A non-contact suction and buoyancy transport device with adjustable suction and control method

Abstract

This invention discloses a non-contact adsorption and transport device with adjustable suction force, comprising at least two adsorption units acting on the same transport object, and a translation device for controlling the movement of the adsorption units. Each adsorption unit includes a Bernoulli suction cup, a suction force adjustment device for adjusting the adsorption force of the Bernoulli suction cup, and a position adjustment device. The position adjustment device is used to adjust the position of the Bernoulli suction cup and the angle of its adsorption surface. The suction force adjustment device and the position adjustment device are adjusted so that the adsorption surface of the Bernoulli suction cup is parallel to the transport object. The translation device is used to move the adsorption unit and change the torque of the adsorption force of the adsorption unit. When tilting occurs, the independently set adsorption units can adjust the local adsorption force by independently adjusting the gap height with the object surface, thus achieving independent control of the adsorption force. The translation device allows the adsorption units to move closer or further apart, changing the adsorption torque, expanding the adsorption adjustment range of the transport device, and adapting to the adjustment of objects falling off during high-acceleration movement.

Description

Technical Field

[0001] This invention relates to contactless transportation, specifically to a contactless suction and buoyancy transport device and control method with adjustable suction. Background Technology

[0002] With the rapid development of industrial production and the increasing demands of production processes, the precision manufacturing industry has placed high requirements on the cleanliness, precision, and reliability of the conveying process for thin and light workpieces. Traditional conveying methods use rigid sliding or rotating joints as transmission components, which can easily cause cracks and scratches on thin and light precision objects, and also easily lead to contamination. Frictionless, non-contact conveying methods can effectively avoid these problems.

[0003] Non-contact long-distance transportation is commonly achieved by installing air-bearing guides under the object. However, these air-bearing guides, acting as fixed transport platforms, occupy a large area, are costly, and fail to effectively utilize vertical space. This problem can be avoided if the transport device can achieve non-contact transport of suspended objects while in motion. Vacuum chucks are commonly used in this type of transport, such as Chinese patents CN102332420A ("Ultra-thin Umbrella Flow Non-contact Silicon Wafer Chuck"), CN104934356A ("A Large-size Crystal Disk Vacuum Chuck"), and CN106743664A ("A Ceramic Substrate Vacuum Transfer Device").

[0004] However, when suspended objects move with the conveyor, the weak lateral driving force causes them to lose synchronization with the device, resulting in slippage, instability, and detachment. To address this problem, existing technologies propose a design scheme based on tilt angle compensation. The conveyed object is suspended on an air-floating platform that can move along a guide rail or robotic arm. The air-floating platform has a tilt angle adjustment function; by controlling the tilt angle, the component of gravity is used as the driving force to compensate for and cancel out the driving force of the slipping or detaching workpiece, preventing lateral slippage and detachment and maintaining synchronization with the device. For example, patents such as "A Non-Contact Tilt-Controllable Conveying Platform and Control Method" (Publication No.: CN111252558A, Publication Date: 2020.06.09) and "A Suction-Floating Non-Contact Conveying Device and Control Method" (Publication No.: CN113314449A, Publication Date: 2021.08.27) require the entire air-floating conveying platform to be rotated to achieve tilt compensation. Multiple air supply units are installed on the air-floating platform and supply air simultaneously. When the platform size is large, this easily leads to airflow loss and increases the angle adjustment time, making the adjustment inflexible. Therefore, this method is only suitable for conveying small workpieces. Summary of the Invention

[0005] Purpose of the invention: To address the above-mentioned shortcomings, the present invention provides a non-contact suction and buoyancy conveying device with adjustable suction force, offering a wide adjustment range and flexible adjustment.

[0006] The present invention also provides a method for adjusting a non-contact suction and flotation transport device.

[0007] Technical Solution: To solve the above problems, the present invention employs a non-contact adsorption and transport device with adjustable suction force, comprising at least two suction and buoyancy units acting on the same transport object, and a translation device for controlling the movement of the suction and buoyancy units. Each suction and buoyancy unit includes a Bernoulli suction cup, a suction force adjustment device for adjusting the suction force of the Bernoulli suction cup, and a position adjustment device. The position adjustment device is used to adjust the position of the Bernoulli suction cup and the angle of the adsorption surface of the Bernoulli suction cup. The suction force adjustment device and the position adjustment device adjust the adsorption surface of the Bernoulli suction cup to be parallel to the transport object. The translation device is used to move the suction and buoyancy unit and change the torque of the suction force of the suction and buoyancy unit.

[0008] Furthermore, the posture adjustment device includes a fixed platform, at least two telescopic rods, and a moving platform. The Bernoulli suction cup is fixedly mounted on the moving platform. One end of each telescopic rod is hinged to the fixed platform and the other end is hinged to the moving platform, and the hinge points of different telescopic rods do not coincide.

[0009] Furthermore, the posture adjustment device includes three telescopic rods, and the distances between each pair of the three telescopic rods and the three hinge points of the fixed platform are the same, and the distances between each pair of the three telescopic rods and the three hinge points of the moving platform are also the same.

[0010] Furthermore, the bottom surface of the moving platform and the adsorption surface of the Bernoulli suction cup are located on the same plane, and a position sensor is provided on the bottom surface of the moving platform. The position sensor is used to detect the position and posture information of the transported object.

[0011] Furthermore, the translation device includes a lead screw slide table connected to each of the suction and buoyancy units, a secondary gear and a main gear connected to each of the lead screw slide table, and a drive motor for rotating the main gear. All the secondary gears mesh with the main gear. The rotation of the main gear drives the secondary gears to rotate, and the rotation of the secondary gears causes the slide table of the lead screw slide table to move closer to or away from the main gear, thereby causing the suction and buoyancy units to move closer to or away from the main gear. The secondary gears are evenly distributed around the main gear in the circumference.

[0012] Furthermore, it includes three suction and buoyancy units, each with a corresponding lead screw slide and three auxiliary gears, which are evenly distributed around the main gear in the circumference.

[0013] Furthermore, the suction adjustment device includes an air supply channel connected to the Bernoulli suction cup, and the air supply channel is equipped with a flow regulating valve for adjusting the air supply flow.

[0014] A control method for a contactless adsorption and transport device includes the following steps:

[0015] Step 1: Obtain the initial pose of the transport object, and adjust the suction force of the suction unit and the pose of the Bernoulli suction cup according to the initial pose of the transport object so that the Bernoulli suction cup can adsorb the transport object in parallel.

[0016] Step 2: Real-time detection of the pose of the transported object during transportation;

[0017] Step 3: Based on the detected position of the transported object, determine whether its position is within the adjustment range of the suction unit's position adjustment device. If it is within the adjustment range, adjust the suction force of the suction unit and the position of the Bernoulli suction cup to keep the Bernoulli suction cup parallel to the transported object. If it is not within the adjustment range, proceed to the next step.

[0018] Step 4: Move the suction unit to increase the torque of the suction unit until the position of the transport object is within the adjustment range of the suction unit's posture adjustment device. Adjust the suction force of the suction unit and the posture of the Bernoulli suction cup to keep the Bernoulli suction cup parallel to the transport object.

[0019] Furthermore, in step 4, the moving distance of the suction unit is determined based on the gap height corresponding to the maximum suction force under the air supply flow rate in step 3.

[0020] Beneficial Effects: Compared with existing technologies, the significant advantage of this invention is that when tilted, each suction unit can be independently adjusted to be parallel to the object surface. Each unit adjusts its local suction force by adjusting the gap height with the object surface. Each suction unit is installed independently, and the airflow supply to each unit is individually adjusted to obtain the required suction force, achieving independent control of the suction force. This avoids the problem of uneven airflow supply leading to excessively high or low suction force when the overall airflow is supplied. The translation device allows the suction units to move closer or further apart, changing the suction torque and expanding the suction adjustment range of the transport device, adapting to adjustments for objects falling off under high acceleration conditions. When the device moves rapidly, through coordinated control of the suction force adjustment of the suction platform and the suction force on the object surface, the object follows the device's rapid movement, achieving complete contactlessness without the use of positioning pins, while preventing the object from slipping off the device. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the conveying device of the present invention;

[0022] Figure 2 This is an exploded view of the structure of the conveying device of the present invention;

[0023] Figure 3 This is an exploded view of the structure of the buoyancy unit in this invention;

[0024] Figure 4 This is an exploded view of the translation device in this invention;

[0025] Figure 5 This is a schematic diagram and a simplified diagram of the conveying device of the present invention, showing the movement of the buoyant object along the x-axis;

[0026] Figure 6 This is a schematic diagram and a simplified diagram of the conveying device of the present invention, showing the movement of the object along the y-axis.

[0027] Figure 7 The conveying device of the present invention buoys the object along the angle θ with the x-axis. x Schematic diagram and simplified diagram of directional motion;

[0028] Figure 8 This is a schematic diagram of the Bernoulli suction cup principle model of the present invention;

[0029] Figure 9 This is a schematic diagram of the coordinate system for the fixed platform and the moving platform in this invention;

[0030] Figure 10 This is a schematic diagram of the initial transportation state of the transportation device of the present invention;

[0031] Figure 11 This is a schematic diagram of an object falling off during transportation using the conveying device of the present invention;

[0032] Figure 12 This is a schematic diagram of the buoyancy unit adjusting within a range when an object falls off during transportation using the conveying device of the present invention;

[0033] Figure 13 This is a simplified diagram of the calculation model for the conveying device of the present invention when it is adjusted within a certain range;

[0034] Figure 14 This is a schematic diagram of the buoyancy unit adjusting beyond its range when an object falls off during transport using the conveying device of the present invention;

[0035] Figure 15 This is a simplified diagram of the calculation model for the conveying device of the present invention when it is adjusted beyond its range;

[0036] Figure 16 This is a schematic diagram of the control principle of the conveying device of the present invention;

[0037] Figure 17 This is a flowchart of the control method for the conveying device of the present invention. Detailed Implementation

[0038] Example 1

[0039] like Figure 1 and Figure 2As shown, this embodiment presents a contactless adsorption and transport device with adjustable suction, comprising at least two suction and buoyancy units 1, a translation device 2, a connecting plate 3, and a Bernoulli suction cup 4. This embodiment uses three suction and buoyancy units 1 as an example; each suction and buoyancy unit 1 is a three-degree-of-freedom parallel platform.

[0040] like Figure 3 As shown, each suction and buoyancy unit 1 includes a fixed platform 1-1, at least two telescopic rods 1-3, and a moving platform 1-5. In this embodiment, three telescopic rods 1-3 are used as an example. The hinge points of the three telescopic rods 1-3 and the fixed platform are evenly distributed around the circumference of the fixed platform, and the hinge points of the three telescopic rods 1-3 and the moving platform are also evenly distributed around the circumference of the moving platform. The telescopic rods 1-3 are servo electric cylinders. The fixed platform 1-1 is hinged to the servo electric cylinder through single and double ear hinges 1-2. The fixed platform 1-1 is bolted to the double ear hinge end of each single and double ear hinge 1-2. The single ear hinge end of each single and double ear hinge 1-2 is bolted to the servo electric cylinder 1-3. The other end of the electric cylinder 1-3 is threaded to the head of the ball hinge 1-4. The bottom flange of the ball hinge 1-4 is bolted to the moving platform 1-5. Three position sensors 1-6 are installed on the moving platform 1-5, and the position sensors are located on the center line of the ball hinge. The three suction units 1 are respectively connected to the three lead screw slides 2-3 with bolts, so that the three suction units 1 are distributed at 120°. The Bernoulli suction cup 4 is fixedly installed on the moving platform 1-5. The bottom surface of the moving platform 1-5 and the adsorption surface of the Bernoulli suction cup are on the same plane, and the Bernoulli suction cup is located at the center of the moving platform 1-5.

[0041] like Figure 4As shown, the translation device comprises a servo drive motor 2-1, three auxiliary gears 2-10, an auxiliary gear bearing bracket 2-3, three auxiliary gear shafts 2-11, three auxiliary gear bearings 2-4, three small couplings 2-9, a main gear 2-8, a main gear shaft 2-5, a main gear bearing 2-6, a main gear bearing cover 2-7, a large coupling 2-2, and three lead screw slides 2-12. The three auxiliary gears 2-10 are distributed at a 120° angle and mesh with the bottom main gear 2-8. The three auxiliary gears are evenly distributed around the main gear. The main gear 2-8 is mounted on shaft 2-5, and one end of shaft 2-5 is fitted with bearing 2-6, which is connected to the main gear bearing cover 2-7 and mounted on mounting plate 3. Each auxiliary gear 2-10 is mounted on shaft 2-11, and one end of shaft 2-11 is fitted with bearing 2-4, which is connected to the auxiliary gear bearing bracket 2-3. The other end of shaft 2-11 is connected to three lead screw slides 2-12 via small couplings 2-9, so that the lead screw slides 2-3 are distributed at 120°. The other end of the bottom main gear shaft 2-5 is connected to servo motor 2-1 via coupling 2-2. Servo motor 2-1 is bolted to the top of the auxiliary gear bearing bracket 2-3. Servo motor 2-1 drives main gear 2-8, and auxiliary gear 2-10 meshes with main gear 2-8 for transmission. Coupling 2-9 connects auxiliary gear shaft 2-11 to lead screw slides 2-12, realizing the movement of lead screw slides 2-12. Translation device 2 is bolted to connecting plate 3.

[0042] like Figure 3 As shown, the Bernoulli suction cup 4 is bolted into the moving platform 1-5. One end of the air supply channel is connected to the Bernoulli suction cup, and the other end is connected to the air supply source. A flow regulating valve is installed on the air supply channel to adjust the air flow rate. The airflow ejected from the Bernoulli suction cup's outlet diffuses in all directions, forming an air film between the Bernoulli suction cup and the transported object, separating the object from the transport platform. According to Bernoulli's principle—"the greater the velocity, the lower the pressure"—the object is suspended within the gap of the air film, thus achieving contactless transport. To achieve large-area transport, the entire transport device can be mounted on a horizontal guide rail or a drive device such as a robotic arm.

[0043] The transport device operates with acceleration *a*, and the object moves relative to the transport device with the same acceleration, resulting in relative sliding between the object and the Bernoulli suction cup. Three position sensors are installed on each of the three moving platforms in the suction adjustment device to detect the object's pose information. The coordinates of three feature points A(x1, y1, z1), B(x2, y2, z2), and C(x3, y3, z3) (these three points define a plane) are obtained by averaging the coordinates of the corresponding feature points on the three moving platforms. This yields the rotation angles of the object around the x and y axes and the coordinates of the object's center. Two direction vectors can then be obtained from the coordinate information. Since the normal vector of a plane is perpendicular to the direction vector, we can obtain the normal vector. The angle between the object and the x-axis is . The included angle with the y-axis direction is

[0044] Figures 5 to 7 is a schematic diagram of the object movement direction. The movement direction of the object can be judged through the rotation angle information of the object. When the object only generates a deflection angle in one direction (only around the x-axis or y-axis), the object moves along the x-axis direction (rotating around the y-axis, the normal vector of the plane where the object is located is perpendicular to the y-axis, that is, θ y =0, forming a deflection angle with the x-axis) or the y-direction (rotating around the x-axis, the normal vector of the plane where the object is located is perpendicular to the x-axis, that is, θ x =0, forming a deflection angle with the y-axis). When the object generates deflection angles in two directions (x-axis and y-axis), the object will move obliquely, and the normal vector of the plane where the object is located forms deflection angles with both the x-axis and the y-axis, and the oblique movement direction depends on the magnitudes of the deflection angles of the object in the two directions.

[0045] Such as Figure 8 shown, the supply air flow passes through the air-sucking and floating unit to generate a gap between the object and the platform, forming a pressure film. The pressure distribution on both sides of the air holes of the air-sucking and floating unit (d / 2 < r < D / 2) is obtained through the Navier-Stokes equation in the cylindrical coordinate system (r, θ, z):

[0046]

[0047] In the formula, P is the pressure, ρ is the air density, μ is the air viscosity coefficient, u r , u θ , u z are the radial, circumferential and axial velocities, r is the radial displacement, and h is the gap height.

[0048] The relationship between the velocity distribution u r and the average velocity is:

[0049] The average velocity In the formula, G is the mass flow rate.

[0050] The air density ρ is: In the formula, R is the air coefficient and T is the temperature.

[0051] Neglecting u θ , u z , the pressure distribution can be obtained as:

[0052] The boundary condition is: r = D / 2, P = P0, where P0 is the atmospheric pressure. D is the outer diameter of the air-sucking and floating unit.

[0053] Because the pore diameter is small, the pressure at the pore can be expressed as a constant value:

[0054]

[0055] In the formula, P d / 2 λ is the pressure when r = d / 2, where d is the pore diameter and λ is the pressure loss coefficient when the airflow direction changes.

[0056] Integrating the pressure distribution yields the buoyancy force:

[0057] The buoyancy model derived from the pressure distribution model was used to fit the relationship between buoyancy and gap height under a series of different air supply flow rates. The data was compiled into the table below for parameter lookup.

[0058] Table 1. Data on air supply flow rate, buoyancy, and gap height

[0059]

[0060] like Figure 9 As shown, a moving coordinate system D-xyz and a static coordinate system J-xyz are established on the moving platform and the fixed platform, respectively. Based on the platform parameters, the coordinates a1, a2, a3 of the hinge center of the static platform and the coordinates b1, b2, b3 of the hinge center of the moving platform are obtained. From this, the homogeneous coordinate matrices A and B of the hinge points of the static and moving platforms can be obtained. The Euler transformation matrix is ​​T = T z R y R x T z Let R be the translation transformation matrix. x Let R be the rotation transformation matrix about the x-axis. y The transformation matrix is ​​T. Transforming the coordinates in the moving coordinate system into the static coordinate system using the transformation matrix T, we get: B1 = TB. The extension / retraction length of each electric cylinder can be obtained using the two-point distance formula.

[0061] like Figure 10 As shown, in the initial state, the initial pose of the transport object is acquired. Based on the initial pose of the transport object, the suction force of the buoyancy unit and the pose of the Bernoulli suction cups are adjusted. The adsorption surfaces of the three Bernoulli suction cups of the suction force adjustment device are at the same height and parallel to the transport object below them. The Bernoulli suction cups are controlled to move downwards until they are close to the object, and air is supplied to each Bernoulli suction cup. The air supply flow rate is adjusted until the object is stably suspended.

[0062] like Figure 11As shown, when a horizontal guide rail or robotic arm drives the transport device, the object tends to detach from the platform because there is no contact between the object and the transport device and no positioning pins to limit its movement. During this detachment process, the object's posture changes. Each suction unit needs to detect the object's posture in real time using a position sensor and adjust accordingly to ensure that the suction surface of each Bernoulli suction cup remains parallel to the object. Because the object's posture changes, the height between the suction surface of each Bernoulli suction cup and the object changes, altering the suction force exerted by the Bernoulli suction cup. Without detachment, the suction force automatically adjusts the distance between the object and the platform, ensuring a balance between the suction force and the object's weight. When the suction force can no longer balance the object's weight, the object will detach.

[0063] When adjusting the buoyancy, two situations may occur: 1. The torque balance is achieved after adjustment by the position adjustment device. 2. The force balance cannot be achieved after adjustment by the position adjustment device. In this case, the position of the buoyancy unit needs to be moved by the translation device to increase the torque and achieve torque balance. The two situations are analyzed below.

[0064] like Figure 12 As shown, in scenario 1, the object falls off within the adjustment range of the position adjustment device. To prevent the object from falling off, the distance between the Bernoulli suction cup and the object is reduced to increase the buoyancy while maintaining a constant supply flow. The distance between the object and the three Bernoulli suction cups can be obtained through position sensors on the three suction units. The distance between the three Bernoulli suction cups with the smallest distance remains constant, and the buoyancy is denoted as F. The positions of the remaining two Bernoulli suction cups are adjusted, and the buoyancy of the two units are denoted as F1 and F2, respectively. From the torque balance in the x and y directions, we can obtain:

[0065] Where l1, l2, and l3 are the distances between the center of mass and the center of Bernoulli's chuck, and α, β, and γ are the angles between the line connecting the center of mass and Bernoulli's chuck and the horizontal direction of the center of mass, the required parameters are as follows: Figure 13 As shown. Let the relationship between the buoyant forces F1 and F2 between the two Bernoulli suction cups be F1 = kF2, then we can obtain: Solving for: When the object moves horizontally or vertically, k = 1, from which the required buoyancy force of the two Bernoulli suction cups whose spacing needs to be changed can be obtained. Based on the calculated buoyancy force, the required air film gap height of each Bernoulli suction cup at this air supply flow rate is obtained from Table 1. The descent height h1 and h2 of the suction and buoyancy units that need to be adjusted in the posture adjustment device can be determined from their current distance h between them and the object. 11 h 12 The air film height h corresponding to each Bernoulli suction cup 12 h22 The difference is obtained by making a subtraction.

[0066] like Figure 14 As shown, in case 2, the object being transported falls off to a position exceeding the adjustment range of the position adjustment device. If the required suction force does not have a corresponding gap height within the air supply flow rate, the required descent height of the Bernoulli suction cup is determined based on the gap height corresponding to the maximum suction force at that air supply flow rate, using the same method as in case 1. However, since the suction force obtained at this time cannot satisfy the torque balance, the suction adjustment device needs to be expanded outward using a translation device to increase the lever arm and achieve torque balance. The torque balance relationship is: F1(l1+r)cosα+kF1(l2+r)cosβ=F(l+r)cosγ, which yields... Where r is the outward expansion distance, and the required parameters in the formula are as follows: Figure 15 As shown. After adjusting the suction adjustment device to the designated position, the suction adjustment device pulls the object back to the initial position. During the pull-back process, the angle of the moving platform is adjusted to keep it parallel to the object. The overall control principle is as follows. Figure 16 As shown.

[0067] Example 2

[0068] like Figure 17 As shown, the control method of a contactless adsorption and transport device in this embodiment is as follows: Step 1: The program starts and completes parameter and state initialization. Step 2: The initial pose of the transported object is obtained by the position sensor. The pose parameters of the object are calculated based on the three-point plane, and the direction of movement is obtained. Step 3: The obtained pose parameters are fed back to the pose adjustment device. The required buoyancy force is calculated according to relevant formulas such as torque balance. The gap height is obtained by looking up a table. The suction force of the buoyancy unit and the pose of the Bernoulli suction cup are adjusted according to the initial pose of the transported object, so that the Bernoulli suction cup remains parallel to the object surface. Step 4: The pose of the object is detected in real time during the transport process, and changes in the object's pose are detected. Step 5: It is determined whether the required buoyancy force has a corresponding gap height under the current air supply flow. If so, Step 6: The lowering height of the moving platform in the pose adjustment device is determined by the required gap height. The obtained lowering height is fed back to each buoyancy unit to adjust it to the specified position. If the required suction buoyancy does not have a corresponding gap height under the current air supply flow rate, proceed to step 7. Determine the adjustment parameter by taking the gap height corresponding to the maximum suction buoyancy under the current air supply flow rate, using the same method as step 6. Then proceed to step 8. Expand the suction adjustment device outward using the translation device. The expansion distance r is calculated based on torque balance. Then, feed back the descent height and expansion distance to the suction adjustment device and translation device, and adjust them to the designated position. Proceed to step 9. The suction adjustment device pulls the object back to its initial state. During the object pullback, the moving platform remains parallel to the object.

Claims

1. A contactless suction transport device with adjustable suction force, characterized in that The device includes at least two suction units acting on the same transport object, and a translation device for controlling the movement of the suction units. Each suction unit includes a Bernoulli suction cup, a suction force adjustment device for adjusting the suction force of the Bernoulli suction cup, and a position adjustment device. The position adjustment device is used to adjust the position of the Bernoulli suction cup and the angle of the Bernoulli suction cup's adsorption surface. The suction force adjustment device and the position adjustment device are adjusted so that the adsorption surface of the Bernoulli suction cup is parallel to the transport object. The translation device is used to move the suction unit and change the torque of the suction force of the suction unit.

2. The non-contacting, adsorptive transport device of claim 1, wherein, The posture adjustment device includes a fixed platform (1-1), at least two telescopic rods (1-3), and a moving platform (1-5). The Bernoulli suction cup (4) is fixedly mounted on the moving platform (1-5). One end of the telescopic rod (1-3) is hinged to the fixed platform and the other end is hinged to the moving platform, and the hinge points of different telescopic rods do not coincide.

3. The non-contacting, adsorptive transport device of claim 2, wherein, The posture adjustment device includes three telescopic rods (1-3), and the distances between each of the three telescopic rods and the three hinge points of the fixed platform are the same, and the distances between each of the three telescopic rods and the three hinge points of the moving platform are also the same.

4. The contactless adsorption and transport device according to claim 2 or 3, characterized in that, The bottom surface of the moving platform (1-5) is on the same plane as the Bernoulli suction cup adsorption surface. A position sensor is installed on the bottom surface of the moving platform to detect the position and posture information of the transported object.

5. The contactless adsorption and transport device according to claim 1, characterized in that, The translation device includes a lead screw slide (2-12) connected to the buoyancy unit, a secondary gear (2-10) and a main gear (2-8) connected to the lead screw slide (2-12), and a drive motor (2-1) that drives the main gear (2-8) to rotate. The secondary gears (2-10) are all meshed with the main gears (2-8). The rotation of the main gear (2-8) drives the secondary gears (2-10) to rotate. The rotation of the secondary gears (2-10) drives the slide of the lead screw slide (2-12) to move closer to or away from the main gear (2-8), thereby driving the buoyancy unit to move closer to or away from the main gear.

6. The non-contacting, adsorptive transport device of claim 5, wherein, The auxiliary gears (2-10) are evenly distributed around the main gear (2-8) in the circumference.

7. The non-contacting, adsorptive transport device of claim 6, wherein, It includes three suction and float units, with three lead screw slides (2-12) and three auxiliary gears (2-10) respectively. The three auxiliary gears (2-10) are evenly distributed around the main gear (2-8) in the circumference.

8. The non-contacting, adsorptive transport device of claim 1, wherein, The suction adjustment device includes an air supply channel connected to a Bernoulli suction cup, and the air supply channel is equipped with a flow regulating valve for adjusting the air supply flow.

9. A method of controlling the contactless adsorption transport device according to any one of claims 1 to 8, characterized in that Includes the following steps: Step 1: Obtain the initial pose of the transport object, and adjust the suction force of the suction unit and the pose of the Bernoulli suction cup according to the initial pose of the transport object so that the Bernoulli suction cup can adsorb the transport object in parallel. Step 2: Real-time detection of the pose of the transported object during transportation; Step 3: Based on the detected orientation of the transported object, determine whether its position is within the adjustment range of the orientation adjustment device of the suction unit; if it is within the adjustment range, adjust the orientation of the Bernoulli suction cup to keep it parallel to the transported object; if it is not within the adjustment range, proceed to the next step: Step 4: Move the suction unit to increase the suction torque of the suction unit until the position of the transport object is within the adjustment range of the suction unit's posture adjustment device. Adjust the posture of the Bernoulli suction cup to keep the Bernoulli suction cup parallel to the transport object.

10. The control method according to claim 9, characterized by In step 4, the moving distance of the suction unit is determined based on the gap height corresponding to the maximum suction force under the air supply flow rate in step 3.

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