CN111319966B

CN111319966B - Sucking disc bowl taking device with laser detection control function

Info

Publication number: CN111319966B
Application number: CN201811526491.8A
Authority: CN
Inventors: 李萧萧; 易君阳; 张京辉; 王尧
Original assignee: Beijing Huawen Yongkang Technology Co ltd
Current assignee: Beijing Huawen Yongkang Technology Co ltd
Priority date: 2018-12-13
Filing date: 2018-12-13
Publication date: 2022-04-15
Anticipated expiration: 2038-12-13
Also published as: CN111319966A

Abstract

The invention relates to the technical field of kitchen equipment, in particular to a suction cup taking bowl device provided with laser detection control, comprising: a control box assembly, a swing arm assembly, an electromagnet and a motor assembly; the swing arm assembly includes a swing arm body, and the The control box assembly includes: a control box shell, a swing shaft, a vacuum pump, a suction cup and a laser ranging controller; the control box assembly can swing relative to the swing arm assembly; the vacuum pump is communicated with the suction cup through an air pipe; The suction cup taking bowl device has a larger suction range, a small horizontal rotation radius, and a more stable rotation center of gravity. The control box assembly can swing to meet the skewed bowl within a certain range. The laser ranging controller and electromagnetic The iron makes the swing of the control box more controllable, so that the suction cup taking device has good suction freedom and precise controllability, and the operation of the suction bowl is more flexible and fast, and the suction and movement of the bowl is more accurate and stable.

Description

Sucking disc bowl taking device with laser detection control function

Technical Field

The invention relates to the technical field of kitchen equipment, in particular to a sucker bowl taking device with laser detection control.

Background

The bowl that is used for holding food in the food and beverage trade is indispensable, and in the dining room that the people is many or the food and beverage equipment that food was sold in automatic cooking, the quantity of bowl can be bigger, needs all very high to the speed, the precision and the stability requirement of getting the bowl moreover. The bowl on the market is of various types and is not unique in style, and due to the restriction of the prior art, the bowl taking modes adopted in the current catering industry are mainly two types: one is manual bowl taking, and the mode can adapt to taking of various bowls because people participate in the bowl taking, but the bowl taking efficiency is low, the accuracy cannot be guaranteed, the hidden health hazard exists, and the bowl taking device cannot be completely integrated with automatic cooking equipment; the other kind is that automatic machine gets bowl, this mode mainly has the bowl of protruding edge to the bowl mouth, utilize expansion anchor clamps to press from both sides to get protruding edge, and then mention the bowl and transfer to formulating the position, but this kind gets bowl mode, it can damage the bowl to get bowl anchor clamps and bowl be rigid contact, it needs bigger expansion to get bowl anchor clamps and presss from both sides the operation space again, and it is the bowl mouth position of mentioning the bowl to get bowl anchor clamps, the bowl is pressing from both sides or removes the in-process and probably takes place the skew because of pressing from both sides the unstability, lead to the follow-up precision of placing the bowl to fail to guarantee, adopt this kind to get the bowl to place in addition, can only adapt to the bowl that has protruding edge at the bowl mouth, if the shape of bowl is different, just need change the bowl anchor clamps of getting, use cost has undoubtedly been increased.

Disclosure of Invention

In view of the above-mentioned drawbacks, the present invention provides a suction cup bowl picking device with laser detection control.

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

the utility model provides a sucking disc gets bowl device with laser detects control, it includes: the control box assembly, the swing arm assembly, the motor assembly and the electromagnet; the swing arm assembly comprises a swing arm body, the lower end of the swing arm body is a driving section, and the upper end of the swing arm body is a driven section; the driven section is provided with a swing bearing; a swing motor is arranged in the motor assembly; the control box subassembly includes: the device comprises a control box shell, a swing rotating shaft, a vacuum pump, a sucker operating end and a laser ranging controller; one end of the swing rotating shaft is connected to one side of the control box shell, and the other end of the swing rotating shaft transversely penetrates through the swing bearing; one end of the sucker operating end is arranged in the control box shell, the other end of the sucker operating end extends downwards from the bottom of the control box shell and is connected with a sucker, and the vacuum pump is communicated with the sucker through an air pipe; when the laser distance measuring controller controls the electromagnet to be electrified, the control box assembly and the swing arm body are relatively fixed, and when the laser distance measuring controller controls the electromagnet to be electrified, the control box assembly can swing relative to the swing arm body; one side surface of the control box assembly can be parallel to one corresponding side surface of the swing arm body and swings around the swing rotating shaft; and the driving section of the swing arm body swings in a vertical plane under the driving of the swing motor.

More specifically, the laser ranging controller is arranged inside the control box shell, and a laser emitting end and a laser receiving end of the laser ranging controller are positioned at the bottom of the control box shell; the electromagnet is arranged between the driven section of the swing arm body and the control box shell, and when the electromagnet is electrified, the swing arm body and the control box shell are relatively fixed; and the laser distance measurement controller is electrically connected with the electromagnet power supply controller.

More specifically, the electro-magnet set up in driven section of swing arm body is close to a side of control box shell, the control box shell with the position that the electro-magnet corresponds is equipped with the locking iron plate.

More preferably, the swing arm body includes: the driving section, the driven section and the bending section; the driving section and the driven section are both in a linear strip shape, and the bending section is in a circular ring shape larger than one fourth; the driving section and the driven section are respectively connected to both ends of the bending section, and the driving section and the driven section are perpendicular to each other.

Preferably, a swing limiting plate is arranged on the side surface of the swing arm body close to the control box shell, the swing limiting plate is sleeved outside the swing rotating shaft, and an arc-shaped limiting groove is formed by taking the swing rotating shaft as a circle center; one side of the control box shell close to the arc-shaped limiting groove is connected with a fixed swing limiting column, and one end of the swing limiting column is limited in the arc-shaped limiting groove.

Preferably, the swing arm assembly further comprises a swing arm outer cover, and the swing arm body is provided with a wiring groove; the power supply wire of control box shell sets up the trough is interior, just the trough that the swing arm body was equipped with is by the swing arm dustcoat wraps up completely.

Preferably, the driving shaft of the swing motor is provided with a limit detection board, the shell of the swing motor is provided with two limit travel detection switches, the two limit travel detection switches are respectively installed at two ends of an arc-shaped limit board, and the arc-shaped limit board is a circular ring-shaped plate which takes the axis of the driving shaft of the swing motor as the center of a circle and has a length smaller than a quarter circle.

Preferably, at least one counterweight screw is detachably arranged at the bottom of the control box shell.

Preferably, the bottom of the motor component is provided with a horizontal rotating base, and the horizontal rotating base is driven by a horizontal rotating motor to drive the sucker bowl taking device to rotate horizontally.

The invention provides a sucker bowl taking device with laser detection control, wherein a swing arm assembly is arranged in the sucker bowl taking device, the sucking range is larger, the horizontal rotating radius is small, the rotating gravity center is concentrated and stable, a control box assembly can swing to cater for a skewed bowl within a certain range, and the swinging of the assembly is controllable to be higher by a laser distance measuring controller and an electromagnet, so that the sucker bowl taking device has good sucking freedom degree and accurate control performance, can adapt to more bowls of different types and with inconsistent placing conditions, is more flexible and rapid in sucking operation, and is more accurate and stable in sucking and moving bowls.

Drawings

FIG. 1 is a schematic perspective view of one embodiment of the present invention;

FIG. 2 is a schematic front view of the embodiment shown in FIG. 1;

FIG. 3 is a schematic structural view of the embodiment of FIG. 1 in the position of a swinging suction bowl;

FIG. 4 is a schematic structural view of the embodiment shown in FIG. 1 with the bowl fully raised;

FIG. 5 is a perspective view of the swing arm assembly in one embodiment of the present invention;

FIG. 6 is a schematic diagram of a portion of the control box assembly in one embodiment of the invention;

fig. 7 is a schematic view of a partial structure of the motor assembly according to an embodiment of the present invention.

Wherein: the laser ranging device comprises a motor assembly 100, a swing motor 110, a driving shaft 111, a limiting detection plate 121, a limiting stroke detection switch 122, an arc limiting plate 123, a swing arm assembly 200, a swing arm body 210, a driving section 211, a driven section 212, a bending section 213, a swing bearing 214, a swing arm outer cover 220, a wiring groove 230, a control box assembly 300, a control box shell 310, a swing rotating shaft 311, a vacuum pump 312, a suction cup 313, an electromagnetic air valve 314, a vacuumizing branch 315, an external branch 316, an adsorption branch 317, a swing limiting plate 320, an arc limiting groove 321, a microswitch 330, a micro detection plate 331, a sliding telescopic pipe 332, a sliding shaft sleeve 333, a laser ranging controller 340 and an electromagnet 341.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

As shown in fig. 1 to 4, a suction cup bowl taking device with laser detection control comprises: a control box assembly 300, a swing arm assembly 200 and a motor assembly 100; the swing arm assembly 200 comprises a swing arm body 210, wherein the lower end of the swing arm body 210 is a driving section 211, and the upper end of the swing arm body is a driven section 212; the driven section 212 is provided with a swing bearing 214; a swing motor 110 is arranged in the motor assembly 100; the control box assembly 300 includes: a control box shell 310, a swing rotating shaft 311, a vacuum pump 312 and a sucker operating end; one end of the swing rotating shaft 311 is connected to one side of the control box shell, and the other end transversely penetrates through the swing bearing 214; one end of the sucker operating end is arranged in the control box shell 310, the other end of the sucker operating end extends downwards from the bottom of the control box shell and is connected with a sucker 313, and the vacuum pump 312 is communicated with the sucker 313 through an air pipe; one side surface of the control box assembly 300 can be parallel to a corresponding side surface of the swing arm body 210 and swing around the swing rotating shaft 311; the driving section 211 of the swing arm body 210 swings in a vertical plane under the driving of the swing motor 110.

Firstly, the swing motor 110 drives the swing arm assembly 200 and the control box assembly 300 to swing to the position for placing the bowl, and the control box assembly 300 can naturally swing relative to the swing arm body 210 and keep vertical and downward; when the suction cup 313 is aligned with the bottom of a bowl, the vacuum pump 312 performs a vacuum pumping operation on the suction cup 313, so that the suction cup 313 and the bowl can stably suck, and finally the swing motor 110 drives the swing arm assembly 200 to lift the control and assembly box bowl together; when the bowl is moved to the set placing position, the swing motor 110 drives the swing arm assembly 200 to place the bowl downwards, and at the moment, the control box assembly 300 can freely rotate relative to the swing arm assembly 200, so that the bowl can be kept vertically downwards as much as possible when being lifted or dropped, and the bowl placing and lifting processes can be kept stable all the time under the action of gravity; when the bowl contacts the placing position, the vacuum pump 312 stops the vacuum pumping operation, the vacuum adsorption capacity of the suction cup 313 is weakened, and finally the bowl is smoothly separated from the suction cup 313 under the action of gravity.

Preferably, as shown in fig. 6, the control box assembly 300 further includes: an electromagnetic gas valve 314; the inside trachea that is equipped with of control box subassembly 300 is the tee bend pipeline, and the three-section pipeline is respectively: a vacuum pumping branch 315, an external branch 316 and an adsorption branch 317; the vacuum pumping branch 315 is communicated with the vacuum pump 312, the adsorption branch 317 is communicated with the sucker operating end, the external branch 316 is communicated with the external atmosphere, and the external branch 316 is provided with the electromagnetic air valve 314; the electromagnetic gas valve 314 is controlled by the control system of the sucker bowl taking device to be opened or closed. When the sucking disc 313 is accurately contacted with a bowl, the electromagnetic air valve 314 is closed under the control of a control system of the sucking disc bowl taking device, and the vacuum pump 312 is started to carry out vacuumizing operation on the sucking disc 313 and the inside of the air pipe, so that the operation of sucking the bowl by the sucking disc 313 is realized; when a bowl needs to be placed, the vacuum pump 312 only plays a role of vacuumizing, although the vacuum pump 312 stops vacuumizing operation when the bowl is separated from the suction cup 313, vacuum exists in the suction cup 313 at the moment of placing, the bowl drops by the aid of the weight of the bowl and is likely to be separated unsuccessfully, so that the bowl placing position is deviated, in order to further realize accurate operation of the bowl placing process, when the bowl needs to be placed, the electromagnetic air valve 314 is opened, the suction cup 313 is communicated with external air and loses vacuum rapidly, and the bowl and the suction cup 313 can be separated smoothly; so that the sucking and placing of the bowl by the sucking disc 313 bowl taking device can be accurately controlled.

As shown in fig. 5, the swing arm body 210 includes: the driving section 211, the driven section 212 and the bending section 213; the driving section 211 and the driven section 212 are both in a linear strip shape, and the bending section 213 is in a circular ring shape larger than one fourth; the driving section 211 and the driven section 212 are respectively connected to both ends of the bending section 213, and the driving section 211 and the driven section 212 are perpendicular to each other. Swing arm body 210 is similar to the shape of chinese symbol question mark, works as the bowl quilt after the sucking disc gets bowl device and lifts up by a take the time-out take the certain height, the bowl that is absorb can be hoisted the ring of the bending section 213 of swing arm body 210 is inboard, and the focus of bowl can be close to the rotation center of horizontal roating seat as far as, can reduce the bowl like this and absorb the back the rotation space that the bowl device was got to the sucking disc and rock, makes the operation can be more steady accurate when the sucking disc gets bowl device and absorbs or remove the bowl.

Preferably, as shown in fig. 6, the control box assembly 300 further includes: a microswitch 330 and a micro-motion detection plate 331; the sucker operating end comprises: a sliding shaft sleeve 333, a sliding telescopic pipe 332 and the sucking disc 313; the sliding shaft sleeve 333 is arranged at the bottom of the control box shell 310, the upper end of the sliding telescopic pipe 332 penetrates through the sliding shaft sleeve 333, extends into the control box shell 310 and is connected with an air pipe, and the lower end of the sliding telescopic pipe 332 is positioned below the control box shell 310 and is connected with the suction cup 313; the upper end of the sliding extension tube 332 is provided with the micro-motion detection plate 331, and the micro-motion switch 330 is arranged inside the control box housing, is located near the micro-motion detection plate 331, and is electrically connected with the controller of the swing motor 110. The operation end of the sucking disc adopts a hardware tool with a stroke, when the sucking disc 313 touches a bowl, the sucking disc is slightly pressed down, at the moment, the sliding telescopic pipe 332 can drive the micro detection plate 331 to slightly move, the micro detection plate 331 starts the micro switch 330, and the micro switch 330 sends a control signal to control the swing motor 110 to stop further swinging, so that excessive deformation of the sucking disc 313 or integral deflection of the control box assembly 300 caused by further extrusion of the sucking disc 313 and the bowl is avoided, and the sucking disc 313 is ensured to be smoothly vacuumized after being in contact with the bowl; on the other hand, the micro switch 330 and the micro detection plate 331 can timely control the swing motor 110 to stop after the suction cup 313 contacts with a bowl, so that the damage caused by excessive collision between the suction cup bowl taking device and the bowl can be avoided, and the operation speed of aligning the suction cup 313 and the bowl to adsorption is greatly improved.

Preferably, as shown in fig. 6, the suction cup bowl taking device further comprises: a laser ranging controller 340 and an electromagnet 341; the laser ranging controller 340 is arranged inside the control box shell 310, and a laser emitting end and a laser receiving end of the laser ranging controller 340 are located at the bottom of the control box shell 310; the electromagnet 341 is disposed between the driven section 212 of the swing arm body 210 and the control box housing 310, and when the electromagnet 341 is energized, the swing arm body 210 and the control box housing 310 are relatively fixed; the laser distance measuring controller 340 is electrically connected with the electromagnet 341 power supply controller; specifically, the electromagnet 341 is disposed on a side surface of the driven section 212 of the swing arm body 210, the side surface being close to the control box housing 310, and a locking iron block is disposed at a position of the control box housing 310 corresponding to the electromagnet 341.

When the control box assembly 300 of the suction cup bowl taking device swings to a position near a bowl, the laser distance measuring controller 340 detects the distance between the suction cup 313 and the bowl, and when the detection result is smaller than or equal to a set distance value, the laser distance measuring controller 340 transmits a signal to the power supply controller of the electromagnet 341, so that the electromagnet 341 is powered on to generate magnetic force, and the swing arm body 210 and the control box shell 310 are locked; when the bowl is successfully adsorbed by the sucking disc 313 and the swing arm body 210 swings upwards, the electromagnet 341 is powered off, so that the sucking disc 313 sucks the bowl to naturally swing until the bowl vertically sags, and the bowl and the sucking disc 313 are firmly sucked.

The bowl taking device with the sucking disc is additionally provided with the laser ranging controller 340 and the electromagnet 341; the swing arm body 210 and the control box shell 310 can be automatically locked when the suction cup 313 approaches a bowl, so that the suction cup 313 does not swing any more and is only in further contact with the bowl under the swinging of the swing arm body 210; make like this the sucking disc get the location of bowl device and bowl and absorb and become more accurate for the bowl adsorbs more stably.

As shown in fig. 5, a swing limiting plate 320 is disposed on a side surface of the swing arm body 210 close to the control box assembly, the swing limiting plate 320 is sleeved outside the swing rotating shaft 311, and an arc-shaped limiting groove 321 is disposed around the swing rotating shaft 311; one side of the control box assembly close to the arc-shaped limiting groove 321 is connected with a fixed swing limiting column, and one end of the swing limiting column is limited in the arc-shaped limiting groove 321. The spacing post of swing is in the control box subassembly for it can be to swing arm body 210 swing in-process the control box subassembly carries out the amplitude of oscillation spacing, and then avoids the too big amplitude of oscillation appearing in the control box collision and wire-wound phenomenon, and the control box can be faster after arriving spacing extreme position resume to vertical decurrent direction, makes the sucking disc gets bowl device and is quick accurate more at the during operation.

The bottom of the motor assembly 100 is provided with a horizontal rotating base, and the horizontal rotating base is driven by a horizontal rotating motor to drive the sucker bowl taking device to rotate horizontally. The horizontal rotating base and the swing motor 110 are matched, so that the swing arm assembly 200 drives the control box assembly 300 to suck or move in multiple vertical and horizontal directions, and the operation range and the flexibility of the bowl sucking device for sucking the bowl are expanded as much as possible.

As shown in fig. 5, the swing arm assembly 200 further includes a swing arm housing 220, and the swing arm body 210 is provided with a wiring groove 230; the power supply wire of the control box assembly is arranged in the wiring groove 230, and the wiring groove 230 arranged on the swing arm body 210 is completely wrapped by the swing arm outer cover 220. An electrical component is arranged in the control box assembly 300, so that a wire needs to be connected, a power supply wire connected with the control box is arranged in the wiring groove 230 of the swing arm body 210 along the swing rotating shaft 311, and then enters the swing motor 110 from the driving section 211 of the swing arm body 210 along the driving shaft 111 of the swing motor 110, so as to be connected with the outside; the wiring mode of power supply wire can realize hiding completely, and becomes a whole with each subassembly, can not take place to damage because of the relative rotation between individual part, makes the sucking disc gets bowl device outside cleaner and tidier, and the security is higher.

As shown in fig. 7, a limit detection plate 121 is disposed on a driving shaft 111 of the swing motor 110, two limit travel detection switches 122 are disposed on a housing of the swing motor 110, the two limit travel detection switches are respectively mounted at two ends of an arc-shaped limit plate 123, and the arc-shaped limit plate 123 is a circular ring-shaped plate with a length smaller than a quarter circle with an axis of the driving shaft 111 of the swing motor 110 as a center. The arc-shaped limit plate 123 provides an installation position for the limit stroke detection, and limits the swing stroke interval of the swing motor 110; specifically, when the driving shaft 111 of the swing motor 110 drives the limit detection plate 121 to rotate to any one of the limit stroke detection switches 122, the swing motor 110 stops driving; the limit travel detection switch 122 is a common infrared ray travel detection switch; the stroke interval is set according to the specific positions of the sucking disc bowl taking device and the bowl placing device in actual installation; this avoids significant collisions of the swing arm assembly 200 or control box assembly 300 with the bowl.

As shown in fig. 6, at least one weight screw is detachably mounted at the bottom of the control box housing 310. In order to increase the degree of freedom of the control box assembly 300 during bowl sucking, the control box assembly 300 can swing within a certain interval relative to the driven section 212 of the swing arm body 210, but too slow stopping of the swing of the control box assembly 300 can also affect the bowl taking efficiency and accuracy of the suction cup bowl taking device; control box subassembly bottom has set up the counter weight screw, the counter weight screw is the screw on the market, can also with when needs increase the counter weight the nut is established to the cover on the counter weight screw and is increased the bottom of control box subassembly has increased behind the counter weight, can make control box subassembly reachs vertical downwards sooner under the swing state, can not take place the swing easily under the non-swing state, and then has improved the sucking disc gets bowl efficiency and the precision of getting of bowl device.

The invention provides a sucker bowl taking device with laser detection control, wherein a swing arm assembly 200 is arranged in the sucker bowl taking device, the sucker bowl taking device has a larger absorption range, a small horizontal rotation radius and a concentrated and stable rotation gravity center, and a control box assembly 300 can swing a bowl which meets the inclination in a certain range, so that the sucker bowl taking device has good absorption freedom degree and accurate control performance, can adapt to more bowls of different types and different placing conditions, is more flexible and faster in operation of the absorption bowl, and is more accurate and stable in absorption and movement of the bowl.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A suction cup taking bowl device provided with laser detection control is characterized in that, comprising: a control box assembly, a swing arm assembly, a motor assembly and an electromagnet; the swing arm assembly comprises a swing arm body, and the swing arm body The lower end is the driving section, and the upper end is the driven section; the driven section is provided with a swing bearing; the motor assembly is provided with a swing motor; the control box assembly includes: a control box shell, a swing shaft, a vacuum pump, and a suction cup operating end and laser ranging controller; one end of the swing shaft is connected to one side of the control box shell, and the other end passes through the swing bearing transversely; one end of the suction cup operating end is set inside the control box shell, and the other end is from the control box shell. The bottom of the control box shell protrudes downward and is connected with a suction cup, and the vacuum pump communicates with the suction cup through an air pipe;

When the laser ranging controller controls the electromagnet to be powered on, the control box assembly and the swing arm body are relatively fixed, and when the laser ranging controller controls the electromagnet to be powered off, the control box assembly is made can swing relative to the swing arm body;

One side surface of the control box assembly can be parallel to the corresponding side surface of the swing arm body and swing around the swing shaft; the drive section of the swing arm body is in a vertical plane under the drive of the swing motor swing;

The laser ranging controller is arranged inside the casing of the control box, and the laser emitting end and the receiving end of the laser ranging controller are located at the bottom of the casing of the control box; the electromagnet is arranged on the body of the swing arm between the driven section and the control box shell, and when the electromagnet is energized, the swing arm body and the control box shell are relatively fixed; the laser ranging controller is electrically connected to the electromagnet power supply controller. join;

The electromagnet is arranged on a side of the driven section of the swing arm body close to the control box shell, and a locking iron block is provided at the position corresponding to the control box shell and the electromagnet.

2 . The suction cup taking bowl device with laser detection control according to claim 1 , wherein the swing arm body comprises: the driving section, the driven section and the bending section; the driving section and the The driven segments are all linear strips, and the curved segment is a circular ring shape larger than a quarter; the driving segment and the driven segment are respectively connected to both ends of the curved segment, and the The driving section and the driven section are perpendicular to each other.

3 . The suction cup taking bowl device with laser detection control according to claim 1 , wherein the side of the swing arm body close to the control box shell is provided with a swing limit plate, and the swing limit plate is provided. 4 . The position plate is sleeved on the outside of the swing rotating shaft, and an arc-shaped limit slot is opened with the swing shaft as the center; the side of the control box shell close to the arc-shaped limit groove is connected to a fixed swing limit column, One end of the swing limit post is limited in the arc limit groove.

4 . The suction cup taking out device with laser detection control according to claim 1 , wherein the swing arm assembly further comprises a swing arm cover, and the swing arm body is provided with a wire groove; the The power supply wires of the control box assembly are arranged in the wiring slot, and the wiring slot provided on the swing arm body is completely wrapped by the swing arm cover.

5 . The suction cup taking out device with laser detection control according to claim 1 , wherein the drive shaft of the swing motor is provided with a limit detection plate, and the shell of the swing motor is provided with two limiters. 6 . Limit travel detection switch, two limit travel detection switches are installed at both ends of the arc-shaped limit plate, the arc-shaped limit plate is less than a quarter of the length with the axis of the drive shaft of the swing motor as the center of the circle Round torus plate.

6 . The suction cup taking bowl device with laser detection control according to claim 1 , wherein at least one counterweight screw is detachably installed at the bottom of the control box shell. 7 .

7 . The suction cup taking bowl device with laser detection control according to claim 1 , wherein the bottom of the motor assembly is provided with a horizontal rotating base, and the horizontal rotating base is driven by a horizontal rotating motor, 8 . The whole of the suction cup taking out device is driven to rotate horizontally.