Non-contact gripping device

Abstract

The application discloses a kind of non-contact grabbing device, it is related to manipulator technical field, including suction cup installation panel, suction cup unit, air pipe rectifier panel, double-end threaded column, installation flange and two-way pipe joint, the circumference of suction cup installation panel is provided with several arc through holes, suction cup unit is set in arc through hole, and suction cup unit includes fan installation cavity, coanda cavity and bernoulli suction cup, air pipe rectifier panel is set in the central upper surface of suction cup installation panel, several two-way pipe joints are evenly arranged along the periphery of air pipe rectifier panel, the bottom end of double-end threaded column passes through air pipe rectifier panel and is connected with suction cup installation panel thread, and the top end of double-end threaded column is connected with installation flange thread.The application is equipped with the non-contact grabbing device of the above structure, the combination of bernoulli principle and coanda effect is realized to the grabbing of various large plane, flexibility, leather and other targets, and grabbing is accurate, stable, and target object is not damaged.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a non-contact gripping device. Background Technology

[0002] In the grasping and transfer of targets with large flat surfaces, light weight, and flexibility, such as LCD panels, glass, express boxes, flexible fabrics, and leather, traditional grasping methods such as robotic grippers, vacuum adsorption, and electrostatic adsorption all have certain limitations. For example, robotic grippers can easily cause scratches or damage to the target, especially for targets such as LCD panels, chips, and circuit boards that require high precision, making robotic grippers unsuitable for grasping them; vacuum adsorption can easily alter some of the material's structure and cannot grasp and transfer breathable flexible fabrics; electrostatic adsorption has a charge hysteresis effect, requiring natural or artificial discharge after each grasp, making continuous grasping impossible. Summary of the Invention

[0003] The purpose of this invention is to provide a non-contact gripping device that combines Bernoulli's principle and the Coanda effect to grip various large flat surfaces, flexible materials, leather, and other targets with precision and stability, without damaging the target object.

[0004] To achieve the above objectives, the present invention provides a non-contact gripping device, comprising a suction cup mounting panel, a suction cup unit, an air duct rectifier panel, a double-threaded cylinder, a mounting flange, and a two-way pipe connector. The suction cup mounting panel has several arc-shaped through holes on its circumference. The suction cup unit is disposed within these arc-shaped through holes and includes a fan mounting cavity, a Coanda cavity, and a Bernoulli suction cup. The air duct rectifier panel is located at the center of the upper surface of the suction cup mounting panel. Several two-way pipe connectors are evenly arranged around the air duct rectifier panel. The bottom end of the double-threaded cylinder passes through the air duct rectifier panel and is threadedly connected to the suction cup mounting panel. The top end of the double-threaded cylinder is threadedly connected to the mounting flange.

[0005] Preferably, the suction cup mounting panel has a connection hole in the center, and several arc-shaped through holes are evenly distributed around the connection hole. Several bolt fixing holes are provided on both sides of the arc-shaped through holes.

[0006] Preferably, the fan mounting cavity is threaded to the top of the Coanda cavity, the bottom of the Coanda cavity is threaded to the top of the Bernoulli suction cup, the Coanda cavity is located inside the arc-shaped through hole, and the Bernoulli suction cup is located below the suction cup mounting panel.

[0007] Preferably, the fan mounting cavity has a motor mounting cavity at its top interior, a power-conducting hole in the center of the motor mounting cavity, and several air inlets around the power-conducting hole. The motor mounting cavity houses the fan motor and a small fan. The top of the Coanda cavity has an airflow hole with a trapezoidal cross-sectional shape. The middle of the Coanda cavity has an air storage cavity, with air inlets on both sides of the air storage cavity. The bottom of the Coanda cavity has protruding fixing ears on both sides, with mounting holes on the fixing ears. The mounting holes are aligned and connected to the bolt fixing holes by screws.

[0008] Preferably, the top periphery of the Bernoulli suction cup is provided with an external threaded mounting surface that connects to the Coanda cavity. The Bernoulli suction cup is provided with several through air inlets, which are arranged in a ring. A groove is opened on the bottom surface of the Bernoulli suction cup to form several airflow outlet channels. The airflow outlet channels are connected to the bottom end of the air inlets, and the airflow outlet channels are arranged radially. The cross-sectional area of ​​the airflow outlet channels gradually increases from the center to the edge.

[0009] Preferably, the air duct rectifier panel has a connection hole 2 in the center, and a number of reinforcing rib mounting grooves are provided around the connection hole 2. A number of connecting ears are provided around the air duct rectifier panel, and the connecting ears are provided with mounting holes 2. The bottom end of the two-way pipe connector is fixed to the mounting hole 2 by screws. The middle part of the two-way pipe connector has an air inlet hole 4, which is connected to the air compressor through a primary air pipe. The two sides of the two-way pipe connector are respectively provided with an air outlet hole 1, which is connected to the air inlet hole 2 through a secondary air pipe.

[0010] Preferably, the bottom end of the double-threaded column is provided with several triangular reinforcing ribs, the bottom end of the triangular reinforcing ribs is provided in the reinforcing rib mounting groove, the bottom end of the double-threaded column passes through the second connecting hole and is threadedly connected to the first connecting hole, and the top end of the double-threaded column passes through the third mounting hole in the center of the mounting flange, and several robotic arm mounting holes are provided around the third mounting hole.

[0011] Therefore, the non-contact gripping device of the present invention, employing the above-described structure, has the following beneficial effects:

[0012] 1) By increasing the airflow speed through the Coanda cavity, the adsorption force on the target is improved. Compared with traditional non-contact grippers, the gripping force is greater, enabling precise, stable, and non-destructive gripping of larger targets.

[0013] 2) The number of suction cups can be flexibly varied from a minimum of two to a maximum of eight, making it suitable for grasping tasks of different masses and large planar targets, thus giving the grasping device strong adaptability and flexibility.

[0014] 3) It can achieve layered adsorption and gripping of flexible targets such as high-density fabrics and leather, and can quickly grasp and release targets by adjusting the air pressure and current of the air chamber. Compared with electrostatic adsorption gripping, it has the feature of continuous gripping.

[0015] 4) The Bernoulli suction cup is connected to the Coanda cavity by a thread, which can be quickly installed and disassembled, greatly facilitating the maintenance and replacement of the gripping device.

[0016] 5) The separate design ensures the precision and strength of the connection between components such as the Bernoulli suction cup, suction cup mounting panel, and robotic arm mounting flange, while also simplifying the processing of components.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an embodiment of a non-contact gripping device according to the present invention;

[0019] Figure 2 This is a schematic diagram of the bottom structure of an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the suction cup mounting panel structure according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the fan mounting cavity structure according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the Coanda cavity structure according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the internal structure of the Coanda cavity according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of a small fan structure according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the Bernoulli suction cup structure according to an embodiment of the present invention;

[0026] Figure 9 This is a schematic diagram of the internal structure of the Bernoulli suction cup according to an embodiment of the present invention;

[0027] Figure 10 This is a schematic diagram of the bottom structure of the Bernoulli suction cup according to an embodiment of the present invention;

[0028] Figure 11 This is a perspective view of the Bernoulli suction cup structure according to an embodiment of the present invention;

[0029] Figure 12 This is a schematic diagram of the tracheal rectifier panel structure according to an embodiment of the present invention;

[0030] Figure 13 This is a schematic diagram of the mounting flange and double-threaded cylinder structure according to an embodiment of the present invention;

[0031] Figure 14 This is a schematic diagram of the two-way pipe joint structure according to an embodiment of the present invention.

[0032] Figure Labels

[0033] 10. Suction cup mounting panel; 11. Arc-shaped through hole; 12. Bolt fixing hole; 13. Connection hole one; 20. Fan mounting cavity; 21. Motor mounting cavity; 22. Air inlet one; 23. Power hole; 24. Small fan; 30. Coanda cavity; 31. Air inlet two; 32. Mounting hole one; 33. Fixing ear; 34. Airflow hole; 40. Bernoulli suction cup; 41. Air inlet three; 42. External thread mounting surface; 43. Airflow outlet channel; 50. Air pipe rectifier panel; 51. Reinforcing rib mounting groove; 52. Mounting hole two; 53. Connection hole two; 54. Connection ear; 60. Double-threaded column; 61. Triangular reinforcing rib; 70. Mounting flange; 71. Robotic arm mounting hole; 72. Mounting hole three; 80. Two-way pipe connector; 81. Air inlet four; 82. Air outlet one. Detailed Implementation

[0034] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] Example

[0036] like Figure 1 As shown, a non-contact gripping device includes a suction cup mounting panel 10, a suction cup unit, an air duct rectifier panel 50, a double-threaded cylinder 60, a mounting flange 70, and a two-way pipe connector 80.

[0037] like Figure 3 As shown, the suction cup mounting panel 10 has several arc-shaped through holes 11 on its circumference. A connecting hole 13 is located in the center of the suction cup mounting panel 10. The arc-shaped through holes 11 are evenly distributed around the connecting hole 13, and several bolt fixing holes 12 are located on both sides of each arc-shaped through hole 11. The suction cup unit is located within the arc-shaped through hole 11, and each arc-shaped through hole 11 can accommodate up to three suction cup units. The suction cup unit includes a fan mounting cavity 20, a Coanda cavity 30, and a Bernoulli suction cup 40. The fan mounting cavity 20 is threaded to the top of the Coanda cavity 30, and the bottom of the Coanda cavity 30 is threaded to the top of the Bernoulli suction cup 40. The Coanda cavity 30 is located within the arc-shaped through hole 11, and the Bernoulli suction cup 40 is located below the suction cup mounting panel 10. Figure 2 As shown.

[0038] like Figure 4 As shown, a motor mounting cavity 21 is located at the top of the fan mounting cavity 20. A power connection hole 23 is located in the center of the motor mounting cavity 21, and several air inlets 22 are arranged around the power connection hole 23, communicating with the atmospheric environment. The fan motor and other components are housed within the motor mounting cavity 21. Figure 7 The small fan 24 shown is electrically connected to the fan motor, and the fan motor is connected to the motor wires through the power hole 23.

[0039] like Figure 5 and Figure 6 As shown, the top of the Coanda cavity 30 is provided with an airflow hole 34, the longitudinal cross-section of which is trapezoidal, gradually increasing in size from the top to the bottom. The Coanda cavity 30 is a device for increasing airflow speed, and a small fan 24 is located in the upper half of the airflow hole 34. A gas storage chamber is provided in the middle of the Coanda cavity 30, with air inlets 31 on both sides for introducing compressed gas. The blades of the small fan 24 rotate at high speed, forming a primary airflow that enters the gas storage chamber through the airflow hole 34. Simultaneously, compressed gas enters the gas storage chamber through the air inlets 31, and the two airflows mix to form a high-speed airflow. The bottom of the Coanda cavity 30 has protruding mounting ears 33 on both sides, each with a mounting hole 32. The mounting hole 32 is aligned with the bolt fixing hole 12 using screws.

[0040] like Figure 7 and Figure 8 As shown, the Bernoulli suction cup 40 is the main non-contact gripping device. The top periphery of the Bernoulli suction cup 40 is provided with an external threaded mounting surface 42 that connects to the Coanda cavity 30. The Bernoulli suction cup 40 has several through-holes 41 arranged in a ring. Figure 9 and Figure 10 , Figure 11 As shown, grooves are formed on the bottom surface of the Bernoulli suction cup 40 to create several airflow outlet channels 43. These channels 43 are connected to the bottom end of the air inlet 41, and are radially distributed. The cross-sectional area of ​​each channel gradually increases from the center to the edge. High-speed airflow generated in the Coanda cavity 30 enters the airflow outlet channels 43 through the air inlet 41 and disperses into the atmosphere along the inner wall of the channels. This high-speed airflow creates a low-pressure zone at the bottom of the Bernoulli suction cup 40. Due to the pressure difference and the exhaust gap, non-contact gripping of large planar targets is achieved. Simultaneously, the increased gas flow rate after mixing significantly increases the gas velocity ejected from the Bernoulli suction cup 40, resulting in a stronger suction force at the bottom of the suction cup 40, enabling the gripping of large-mass targets.

[0041] like Figure 12As shown, the tracheal rectifier panel 50 is located at the center of the upper surface of the suction cup mounting panel 10. Several connecting ears 54 are arranged around the tracheal rectifier panel 50, and each connecting ear 54 has a second mounting hole 52. The bottom end of the two-way pipe connector 80 is fixed to the second mounting hole 52 by screws. Figure 14 As shown, the two-way pipe connector 80 has an air inlet 4 81 in the middle, which is connected to the air compressor via a primary air pipe. The two-way pipe connector 80 also has an air outlet 1 82 on each side, which is connected to an air inlet 2 31 via a secondary air pipe. Compressed gas from the air compressor passes sequentially through the primary air pipe, air inlet 4 81, air outlet 1 82, secondary air pipe, and air inlet 2 31 before entering the Coanda cavity 30. Due to the Coanda effect, the airflow provided by the small fan 24 increases the airflow velocity and volume during the collision with the compressed gas, thus reducing the energy consumption of the air compressor.

[0042] The tracheal rectifier panel 50 has a second connection hole 53 in its center, and several reinforcing rib mounting grooves 51 are arranged around the second connection hole 53. Several triangular reinforcing ribs 61 are arranged around the bottom end of the double-threaded cylinder 60, and the bottom end of the triangular reinforcing ribs 61 is located within the reinforcing rib mounting grooves 51. The bottom end of the double-threaded cylinder 60 passes through the second connection hole 53 and is threadedly connected to the first connection hole 13, thus fixing the tracheal rectifier panel 50 in place through the triangular reinforcing ribs 61.

[0043] like Figure 13 As shown, the top of the double-threaded cylinder 60 is threadedly connected to the mounting flange 70. The mounting flange 70 has a central mounting hole 72, and several robotic arm mounting holes 71 are arranged around the mounting hole 72 for mounting with a robotic arm, enabling non-contact device displacement. For objects of different sizes and weights to be grasped, the suction force can be adjusted by changing the number of suction cup units and regulating the airflow of the air compressor and the rotation speed of the small fan 24, thus enabling the grasping and transfer of objects such as leather and express delivery boxes. Because the airflow adjustment has no lag, it overcomes the problem of needing to discharge after each grasp in electrostatic adsorption grasping, enabling continuous grasping and thus improving grasping efficiency.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A non-contact gripping device, characterized in that: It includes a suction cup mounting panel, a suction cup unit, an air duct rectifier panel, a double-threaded cylinder, a mounting flange, and a two-way pipe connector. The suction cup mounting panel has several arc-shaped through holes on its circumference. The suction cup unit is located in the arc-shaped through holes. The suction cup unit includes a fan mounting cavity, a Coanda cavity, and a Bernoulli suction cup. The air duct rectifier panel is located in the center of the upper surface of the suction cup mounting panel. Several two-way pipe connectors are evenly arranged around the air duct rectifier panel. The bottom end of the double-threaded cylinder passes through the air duct rectifier panel and is threadedly connected to the suction cup mounting panel. The top end of the double-threaded cylinder is threadedly connected to the mounting flange. The fan mounting cavity is threaded to the top of the Coanda cavity, and the bottom of the Coanda cavity is threaded to the top of the Bernoulli suction cup. The Coanda cavity is set inside the arc-shaped through hole, and the Bernoulli suction cup is set below the suction cup mounting panel. The fan mounting cavity has a motor mounting cavity at its top. A power-conducting hole is located in the center of the motor mounting cavity, surrounded by several air inlets. The motor mounting cavity houses the fan motor and a small fan. The top of the Coanda cavity has an airflow hole with a trapezoidal cross-section that gradually increases in size from top to bottom. The Coanda cavity is a device to increase airflow speed. The small fan is located in the upper half of the airflow hole. The middle of the Coanda cavity has an air storage chamber, with air inlets on both sides. The bottom of the Coanda cavity has protruding mounting ears on both sides, each with a mounting hole. These mounting holes are aligned with bolt fixing holes using screws. The top periphery of the Bernoulli suction cup is provided with an external threaded mounting surface that connects to the Coanda cavity. The Bernoulli suction cup is provided with several through air inlets, which are arranged in a ring. The bottom surface of the Bernoulli suction cup is provided with grooves to form several airflow outlet channels. The airflow outlet channels are connected to the bottom end of the air inlets, and the airflow outlet channels are arranged radially. The cross-sectional area of ​​the airflow outlet channels gradually increases from the center to the edge. The blades of the small fan rotate at high speed to form a primary airflow, which enters the air storage chamber through the airflow hole. At the same time, compressed gas enters the air storage chamber from the second air inlet. The two airflows mix in the Coanda cavity to form a high-speed airflow. The high-speed airflow enters the airflow outlet channel from the third air inlet and disperses into the atmosphere along the inner wall of the airflow outlet channel. The high-speed airflow forms a low-pressure zone at the bottom of the Bernoulli suction cup. Due to the pressure difference and the exhaust gap, non-contact grasping of large planar targets can be achieved.

2. The non-contact gripping device according to claim 1, characterized in that: The suction cup mounting panel has a connection hole in the center, and several arc-shaped through holes are evenly distributed around the connection hole. Several bolt fixing holes are provided on both sides of the arc-shaped through holes.

3. The non-contact gripping device according to claim 2, characterized in that: The air duct rectifier panel has a connection hole 2 in the center, and several reinforcing rib mounting grooves are provided around the connection hole 2. Several connecting ears are provided around the air duct rectifier panel, and the connecting ears are provided with mounting holes 2. The bottom end of the two-way pipe connector is fixed to the mounting hole 2 with screws. The middle part of the two-way pipe connector is provided with an air inlet hole 4, which is connected to the air compressor through a primary air pipe. The two sides of the two-way pipe connector are provided with air outlet holes 1, which are connected to the air inlet hole 2 through a secondary air pipe.

4. A non-contact gripping device according to claim 3, characterized in that: The bottom of the double-threaded column is surrounded by several triangular reinforcing ribs, the bottom of which is located in the reinforcing rib mounting groove. The bottom of the double-threaded column passes through the second connecting hole and is threadedly connected to the first connecting hole. The top of the double-threaded column passes through the third mounting hole in the center of the mounting flange. Several robotic arm mounting holes are provided around the third mounting hole.

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