Sucking disc for non-contact grabbing device, grabbing device and using method

Abstract

The invention discloses a suction cup for a non-contact type grabbing device, the grabbing device and a using method, after airflow enters the suction cup, the interior of the suction cup guides the entering airflow, the input airflow can be guided from the vertical direction to the horizontal direction to be discharged, a honeycomb assembly and a lifting body form a double-step type flow channel structure, and therefore the airflow can be conveniently discharged. The airflow entering the honeycomb assembly is changed from the vertical direction to the horizontal direction and then flows out in the circumferential direction of the honeycomb assembly, the airflow entering the lifting body flows out in the horizontal direction after being guided by a middle disc, momentum transfer of the two airflow is completed at the bottom through a transverse jet flow mechanism, and the speed attenuation rate can be remarkably reduced in the bottom extension plane direction. Air in the bottom space is taken away by high-speed flowing air flow, a large-range and stable negative pressure area is formed at the bottom, active regulation and control of the air gap thickness are achieved through the synergistic effect of transverse flow guiding and the double-step type flow channel structure, grabbed objects are free of impact in the longitudinal direction, and transverse optimal grabbing is achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical hand grasping, and relates to a suction disc for a non-contact grasping device, a grasping device and a use method. BACKGROUND

[0002] In the field of precision industrial manufacturing and high-value material processing, the current grasping technology faces significant technical bottlenecks for targets with large planes, irregularities, flexibility, etc. such as optical glass substrates, semiconductor wafers, ultra-thin flexible circuit boards, high-grade leather products, textile composites, and nanoscale thin films.

[0003] Traditional mechanical grippers are limited by rigid contact characteristics, which can easily cause microscopic stress damage to the target when grasping planar targets. Especially when handling high-precision targets such as wafers or integrated circuit boards, surface microstructure damage caused by mechanical contact will directly affect product yield. Flexible adaptive grippers can improve contact stress distribution, but the topological configuration adaptive ability based on deformation principle has physical limits, making it difficult to achieve millimeter-level planar adhesion of materials with a megapascal-level elastic modulus. Moreover, when grasping large-chord-ratio (length-width ratio > 10) flexible substrates, material creep is easily induced. SUMMARY

[0004] The present application aims to solve the problem of microscopic stress damage to the target or material creep caused by the grasping method in the prior art, which affects product yield, and some grasping devices cannot achieve continuous grasping, and are prone to attract dust during grasping. The present application provides a suction disc for a non-contact grasping device, a grasping device and a use method.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions: A suction disc for a non-contact grasping device, characterized in that it comprises a lifting body and a middle disc placed at the lower end of the lifting body, the outer side of the lifting body is sleeved with a honeycomb assembly, and the outer side of the honeycomb assembly is sequentially sleeved with a cavity and a flush disc from top to bottom; The upper end of the cavity is provided with an air inlet, and the lower end is provided with an air outlet, the air outlet of the cavity is respectively communicated with the air inlet of the honeycomb assembly and the air inlet of the lifting body, and the air outlet of the honeycomb assembly and the air outlet of the lifting body are both communicated with the air inlet of the flush disc; The middle disc is used to guide the output airflow of the lifting body from the vertical direction to the horizontal direction and then into the flush disc.

[0006] The further improvement of the present application is that: The honeycomb assembly is internally provided with a honeycomb connecting hole, and the lifting body is connected with the honeycomb connecting hole; A plurality of second air inlet holes are provided in the honeycomb assembly, the second air inlet holes are distributed in the circumferential direction of the honeycomb connecting hole, the axis of the second air inlet hole is parallel to the axis of the honeycomb connecting hole, the air inflow end of the second air inlet hole is located close to one end of the cavity, the air outflow end of the second air inlet hole is located away from the cavity, and an air baffle is arranged at the air outflow end of the second air inlet hole.

[0007] The lifting body is provided with a mounting hole five, and the mounting hole five is used for connecting a middle disc; A plurality of third air inlet holes are provided in the lifting body, and the third air inlet holes are distributed in the circumferential direction of the mounting hole five.

[0008] The air baffle comprises a vertical part and a horizontal part connected vertically, the vertical part is connected with the inner side wall of the honeycomb connecting hole, and the horizontal part is located below the air outflow end of the second air inlet hole.

[0009] The outer side wall of the lifting body is provided with an outer mounting thread two, and the inner side wall of the honeycomb connecting hole is provided with an inner mounting thread one corresponding to the outer mounting thread two.

[0010] The outer mounting thread three is arranged at the upper end of the middle disc, and the outer mounting thread three is connected with the mounting hole five; The outer surface of the middle disc is a smooth curved surface, the smooth curved surface comprises a convex part located at the center and a horizontal edge part distributed in the circumferential direction of the convex part, and the convex part and the horizontal edge part are smoothly and transitionally connected.

[0011] The flat disc is internally provided with a disc connecting hole, and the disc connecting hole is used for connecting the honeycomb assembly; The outer surface of the flat disc is an arc-shaped air flow surface, and a plurality of flow guide ribs are distributed in the circumferential direction of the arc-shaped air flow surface.

[0012] A non-contact grabbing device comprises a suction cup mounting panel, a plurality of mounting grooves are provided in the suction cup mounting panel, and the mounting grooves are used for mounting the suction cup for the non-contact grabbing device according to any one of the present application; A mounting hole one is provided in the suction cup mounting panel, and the mounting hole one is used for connecting a mechanical arm.

[0013] A suction cup mounting hole is provided at the center of the suction cup mounting panel, a plurality of arc-shaped through holes are distributed in the circumferential direction of the suction cup mounting hole, and a plurality of suction cups for the non-contact grabbing device can be mounted in the arc-shaped through holes.

[0014] A method for using the suction cup for a non-contact grabbing device, comprising the following steps: The air flow is delivered into the cavity, flows vertically downward along the cavity, part of which enters the honeycomb assembly, and the other part enters the lifting body; After the air flow changes from the vertical direction to the horizontal direction along the honeycomb assembly, it flows out along the circumference of the honeycomb assembly to form a first horizontal air flow; The air flow flows vertically downward along the lifting body, and after being guided by the middle disc, it flows out in the horizontal direction to form a second horizontal air flow; The second horizontal air flow flows in the horizontal direction and meets the first horizontal air flow, and then enters the flush disc, and the air flow flows out along the circumference of the flush disc in the horizontal direction to realize non-contact grabbing.

[0015] Compared with the prior art, the present application has the following beneficial effects: The present application discloses a suction cup for a non-contact grabbing device, after the air flow enters the interior, the interior of the suction cup guides the entering air flow, which can guide the input air flow from the vertical direction to the horizontal direction and discharge, the honeycomb assembly and the lifting body form a double-ladder type flow channel structure, after the air flow is discharged through the cavity, part of it enters the honeycomb assembly, and the other part enters the lifting body, after the air flow entering the honeycomb assembly changes from the vertical direction to the horizontal direction, it flows out along the circumference of the honeycomb assembly, the air flow entering the lifting body flows out in the horizontal direction after being guided by the middle disc, the two air flows complete momentum transmission through the transverse jet mechanism at the bottom, the speed decay rate in the expansion plane direction at the bottom can be significantly reduced, the high-speed flowing air flow carries away the air in the bottom space and forms a large range and stable negative pressure area at the bottom, through the synergistic effect of the transverse flow guiding and the double-ladder type flow channel structure, the active regulation of the air gap thickness is realized, through the stepped exhaust way, the negative pressure area coverage area can be expanded, so that the air flow finally flows out in the horizontal direction along the circumference of the flush disc, thereby reducing the pressure fluctuation standard deviation in the non-contact grabbing process, the grabbed object is not impacted in the longitudinal direction, and the optimal grabbing in the transverse direction is realized.

[0016] Further, in the present application, the outer side of the honeycomb connecting hole is circumferentially distributed with a plurality of air inlet holes two, the air inlet holes two are vertically arranged along the honeycomb assembly, and the circumferential array distribution structure forms a multi-channel coupled jet, which facilitates the energy transmission of the air flow in the subsequent process.

[0017] Further, in the present application, the air flow baffle comprises a vertical part and a horizontal part connected vertically, the vertical part is connected with the inner side wall of the honeycomb connecting hole, and the air flow is guided so that the air flow can be transmitted along the preset flow channel.

[0018] Further, in the application, the smooth curved surface comprises a convex part in the center and horizontal edge parts distributed circumferentially along the convex part, and the convex part is smoothly and transitionally connected with the horizontal edge parts, which can well guide the vertical downward airflow to gradually flow horizontally, so that a large range and stable negative pressure area is formed at the bottom.

[0019] Further, in the application, the outer surface of the flush disc is an arc-shaped airflow surface, and a plurality of flow guide ribs are circumferentially distributed on the arc-shaped airflow surface, the flow guide ribs divide the airflow into multiple channels for discharge, and the flow guide structure cooperates with the outlet wall surface with curved arc to reduce the impact of the airflow and achieve optimal horizontal grabbing effect.

[0020] The application discloses a non-contact grabbing device, a plurality of arc-shaped through holes are arranged on a mounting panel, and the relative position of a suction disc to the center can be adjusted along the arc-shaped through holes during grabbing, so that the overall grabbing area is adjusted, the arc-shaped through holes can be provided with a plurality of suction discs for the non-contact grabbing device, the number of the suction discs is adjusted according to the mass or area of the grabbed object, and for the air-permeable fabric with small mass and large area, the number of the suction discs and the distribution diameter can be increased, and the grabbing process can be completed at a low air supply pressure, the circumferential distribution of the arc-shaped through holes provides greater flexibility and multitasking for the grabbing device, so that the grabbing device can cope with objects with different shapes, weights and characteristics, and accurate grabbing force control and release are realized.

[0021] The application discloses a use method of a suction disc for a non-contact grabbing device, after air flow enters the inside, the inside of the suction disc guides the entering air flow, the input air flow can be guided from the vertical direction to the horizontal direction and discharged, a honeycomb assembly and a lifting body form a double-ladder type flow channel structure, after the air flow is discharged through the cavity, part of the air flow enters the honeycomb assembly, and the other part enters the lifting body, the air flow entering the honeycomb assembly is changed from the vertical direction to the horizontal direction and flows out along the circumferential direction of the honeycomb assembly, the air flow entering the lifting body flows out along the horizontal direction after being guided by the middle disc, the two air flows complete momentum transmission through the transverse jet mechanism at the bottom, the speed decay rate of the two air flows can be significantly reduced in the expansion plane direction of the bottom, the high-speed flowing air flow carries away the air in the bottom space and forms a large range and stable negative pressure area at the bottom, through the synergistic effect of the transverse flow guiding and the double-ladder type flow channel structure, active regulation of the air gap thickness is realized, through the stepped air discharge mode, the negative pressure area coverage area can be expanded, the air flow finally flows out along the circumferential direction of the flush disc horizontally, so that the standard deviation of pressure fluctuation in the non-contact grabbing process is reduced, the grabbed object is not impacted in the longitudinal direction, and optimal horizontal grabbing is realized. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 The internal structure diagram of the suction cup assembly of the embodiment of the present application; Figure 2 The cavity structure diagram of the embodiment of the present application; Figure 3 The internal structure diagram of the cavity of the embodiment of the present application; Figure 4 The honeycomb assembly structure diagram of the embodiment of the present application; Figure 5 The bottom structure diagram of the honeycomb assembly of the embodiment of the present application; Figure 6 The internal structure diagram of the honeycomb assembly of the embodiment of the present application; Figure 7 The lifting body structure diagram of the embodiment of the present application; Figure 8 The middle disc structure diagram of the embodiment of the present application; Figure 9 The flush disc structure diagram of the embodiment of the present application; Figure 10 The internal structure diagram of the flush disc of the embodiment of the present application; Figure 11 The structure diagram of the non-contact grabbing device of the embodiment of the present application; Figure 12 The bottom structure diagram of the non-contact grabbing device of the embodiment of the present application; Figure 13 The suction cup mounting panel structure diagram of the embodiment of the present application; Figure 14 The mounting flange structure diagram of the embodiment of the present application; Figure 15 The part plate structure diagram of the embodiment of the present application; Figure 16 The double-threaded column structure diagram of the embodiment of the present application; Figure 17 The adsorption surface pressure nephogram of the embodiment of the present application; Figure 18 The cross-sectional velocity vector diagram of the embodiment of the present application.

[0024] 10, suction cup mounting panel; 11, mounting hole one; 12, suction cup mounting hole; 13, air pipe rectification hole; 14, mounting hole two; 15, arc-shaped through hole; 16, turbulence through hole one; 17, turbulence through hole two; 18, mounting hole three; 20, cavity; 21, mounting hole four; 22, air inlet hole one; 23, fixing lug; 30, honeycomb assembly; 31, air inlet hole two; 32, inner mounting thread one; 33, outer mounting thread one; 34, air flow baffle; 40, lifting body; 41, mounting hole five; 42, air inlet hole three; 43, outer mounting thread two; 50, middle disc; 51, outer mounting thread three; 60, flush disc; 61, inner mounting thread two; 62, arc-shaped air flow surface; 63, flow guide rib; 70, mounting flange; 71, mechanical arm mounting hole; 80, part plate; 81, flange mounting hole; 82, mounting hole six; 90, double-headed threaded column. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0027] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0028] In the description of the embodiments of the present application, it should be noted that, if the terms "upper", "lower", "horizontal", "inner", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0029] In addition, if the term "horizontal" is used, it is not meant to require absolute horizontal, but can mean slightly inclined. For example, "horizontal" can mean more horizontal than "vertical", but not necessarily perfectly horizontal.

[0030] In the description of the embodiments of the present application, it should also be noted that, unless specifically defined and limited, if the terms "set", "mounted", "connected", "linked" appear, they should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected, can be mechanically connected, can be electrically connected, can be directly connected, can be indirectly connected through an intermediate medium, or can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] The present application will be further described in detail below with reference to the accompanying drawings: Referring to Figures 1 to 18 The present application discloses a suction cup for a non-contact grabbing device, a grabbing device and a use method, and is designed based on Bernoulli's principle to realize non-contact fast grabbing and releasing of various precise, flexible and large planar targets.

[0032] Referring to Figure 1 The present application discloses a suction cup for a non-contact grabbing device, a grabbing device and a use method, and is designed based on Bernoulli's principle to realize non-contact fast grabbing and releasing of various precise, flexible and large planar targets.

[0033] The honeycomb assembly 30 can guide the input airflow from the vertical direction to the horizontal direction.

[0034] The middle disc 50 is used to guide the output airflow of the lifting body 40 from the vertical direction to the horizontal direction and then into the flush disc 60.

[0035] Referring to Figures 2 to 3 Further, in the present application, the structure of the cavity 20 is: The upper end of the cavity 20 is provided with an air inlet hole 22 connected to an external high-pressure airflow, and the bottom of the cavity 20 is provided with protruding fixing ears 23 on both sides, and the fixing ears 23 are provided with mounting holes four 21. The fixing ears 23 are used to connect the suction cup mounting panel 10, and the mounting holes four 21, the mounting holes two 14 and the mounting holes three 18 are fixed by bolts.

[0036] Further, the upper end of the cavity 20 is provided with an air inlet, and the lower end is provided with an air outlet.

[0037] Referring to Figures 4 to 6 Further, in the embodiment of the present application, the structure of the honeycomb assembly 30 is: The circumference of the honeycomb assembly 30 is provided with a plurality of air inlet holes two 31, and the upper part of the air inlet holes two 31 is connected to the cavity 20. The middle part of the honeycomb assembly 30 is provided with a honeycomb connecting hole, and the inner side wall of the honeycomb connecting hole is provided with an inner mounting thread one 32, which is connected to an outer mounting thread two 43. The inner mounting thread one 32 is flush with the air inlet holes two 31, and a plurality of air inlet holes two 31 are distributed along the circumference of the honeycomb connecting hole. Among them, the axis of the air inlet holes two 31 and the axis of the honeycomb connecting hole are parallel, one end of the air inlet holes two 31 close to the cavity 20 is an air inlet, and the other end is an air outlet.

[0038] The outer part of the honeycomb assembly 30 is provided with an outer mounting thread one 33, and the inner part of the flush disc 60 is provided with a disc connecting hole. The inner side wall of the disc connecting hole is provided with an inner mounting thread two 61, and the outer mounting thread one 33 is connected to the inner mounting thread two 61. The connection position is adjusted according to the vertical height of the middle disc 50, and the height of the flow guide ribs 63 of the flush disc 60 and the bottom end of the middle disc 50 need to be flush.

[0039] The honeycomb assembly 30 is provided with an air flow baffle 34, which includes a vertical part and a horizontal part connected vertically, and a curved chamfer at the connection of the vertical part and the horizontal part. The vertical part is connected to the inner side wall of the honeycomb connecting hole, and the horizontal part is located below the air outlet of the air inlet holes two 31, and there is a gap between the horizontal part and the air outlet of the air inlet holes two 31.

[0040] Referring to Figure 7 Further, in the embodiment of the present application, the structure of the lifting body 40 is: The lifting body 40 is a device for connecting the middle disc 50 in the middle part of the suction cup assembly. The middle part of the lifting body 40 is provided with a mounting hole five 41, and the mounting hole five 41 is connected to the outer mounting thread three 51 of the middle disc 50. During installation, the vertical height of the middle disc 50 can be adjusted to a certain appropriate position to ensure that the height of the flow guide ribs 63 of the flush disc 60 and the bottom end of the middle disc 50 are flush. The air inlet holes three 42 are annularly distributed in the middle part of the lifting body 40, and the outer part is provided with an outer mounting thread two 43, which is connected to the inner mounting thread one 32.

[0041] Referring toFigure 8 Further, in the embodiment of the present application, the structure of the middle disc 50 is as follows: The middle disc 50 is a device for connecting the bottom of the lifting body 40 to the bottom of the suction disc assembly, and the outer mounting thread three 51 is arranged on the upper part of the middle disc and is connected to the bottom mounting hole five 41 of the lifting body 40.

[0042] The outer surface of the middle disc 50 is a smooth curved surface, which includes a convex part located at the center and a horizontal edge part distributed along the circumferential direction of the convex part, and the convex part and the horizontal edge part are smoothly and transitionally connected.

[0043] Referring to Figures 9 to 10 Further, in the embodiment of the present application, the structure of the flush disc 60 is as follows: The flush disc 60 is a device for connecting the honeycomb assembly 30 to the outside of the suction disc assembly, and the inner mounting thread two 61 is arranged inside the flush disc 60 and is used for connecting the outer mounting thread one 33. The outer periphery of the flush disc 60 is an arc-shaped air flow surface 62 in a curved surface, and eight flow guide ribs 63 are arranged in the circumference of the arc-shaped air flow surface 62. After installation, each flow guide rib 63 is located between two air flow baffles 34 in the horizontal direction, so as to prevent the collision and interference of air flow.

[0044] The components of the suction disc are connected through threads, which can be quickly installed and disassembled, and the air flow gap of the middle disc can be adjusted, thereby greatly improving the adaptability of the grabbing device.

[0045] Referring to Figures 11 to 13 The embodiment of the present application also discloses a non-contact grabbing device, which comprises a suction disc mounting panel 10, a plurality of mounting grooves are arranged on the suction disc mounting panel 10, and the mounting grooves are used for mounting the suction disc of the non-contact grabbing device according to any one of claims 1-7; and a mounting hole one 11 is arranged on the suction disc mounting panel 10 and is used for connecting a mechanical arm.

[0046] Further, in the embodiment of the present application, the structure of the suction disc mounting panel 10 is as follows: The suction disc mounting panel 10 is provided with a suction disc mounting hole 12 and four mounting holes one 11 in the middle of the circumference, the suction disc mounting hole 12 is provided with four mounting holes three 18 in the periphery, the mounting holes three 18 are provided with four turbulence through holes two 17 in the periphery, and the suction disc mounting panel 10 is provided with four turbulence through holes one 16 outside. The suction disc mounting panel 10 is uniformly provided with four air pipe rectifying holes 13 in the middle of the circumference, the air pipe rectifying holes 13 are provided with a plurality of mounting holes two 14 and arc-shaped through holes 15 outside. The suction disc is arranged in the arc-shaped through hole 15, and each arc-shaped through hole 15 can be provided with four suction disc units at most. The suction disc comprises a cavity 20, a honeycomb assembly 30, a lifting body 40, a middle disc 50 and a flush disc 60, and the components in each suction disc are connected in the form of threads, the cavity 20 is arranged in the arc-shaped through hole 15, and the honeycomb assembly 30, the lifting body 40, the middle disc 50 and the flush disc 60 are arranged below the suction disc mounting panel 10.

[0047] Specifically, the mounting holes two 14 and the mounting holes three 18 are connected with the mounting holes four 21.

[0048] Specifically, in order to avoid airflow collision and reduce the overall mass of the suction disc mounting panel, a plurality of turbulence through holes one 16 and turbulence through holes two 17 are arranged in the circumference of the suction disc mounting panel 10.

[0049] Specifically, the air pipe rectifying hole 13 is used for mounting a tee, the external high-pressure air pump device is connected through a PU pipe and connected to the mechanical arm end along the mechanical arm body path, and then the airflow is delivered to each suction disc through the tee, wherein the working air pressure of the high-pressure air pump is 0.2Mpa-0.8Mpa. When the material with small volume and low quality is grabbed, the number of suction discs can be reduced, and the suction disc assembly can be moved to the inside of the arc-shaped through hole 15 of the suction disc mounting panel 10, so as to reduce the grabbing surface and complete the grabbing process.

[0050] Referring to Figures 14 to 16 Further, the mounting flange 70, the part plate 80 and the double-headed threaded column 90 are used to fix the suction disc mounting panel 10 and the device connected to the mechanical arm end. The double-headed threaded column 90 is mounted at the bottom through the outer mounting thread four 91 and mounted at the upper part through the mounting hole six 82. The part plate 80 is provided with four flange mounting holes 81 in the middle and connected with the mechanical arm mounting hole 71 in the mounting flange 70, and is provided with four mounting holes six 82 outside for connecting the double-headed threaded column 90, and the connection part outside is an arc-shaped structure. The separated design ensures the connection precision and strength between the components, and makes the machining of the parts more simple.

[0051] The embodiment adopts a pneumatic control driving working mode: when grabbing materials with large volume and high quality, the number of suction cups can be increased, and the suction cup assembly can be moved towards the outside of the arc-shaped through hole 15 of the suction cup mounting panel 10 to increase the grabbing surface and the grabbing quality, and the grabbing process is completed. At the same time, for the air-permeable fabric, the mass is small and the area is large, the number of suction cups and the distribution diameter can be increased, and the grabbing process can be completed at a lower air supply pressure. This flexible mounting mode provides greater flexibility and multi-tasking for the grabbing device, enabling it to handle objects of different shapes, weights and characteristics, and achieving precise grabbing force control and release. This design provides the device with a wider application field and higher practicality, and the device can realize layered adsorption grabbing of low-density fabrics, leather and other flexible targets, and the longitudinal airflow impact-free design can meet the stability of grabbing, and adjusting the air inlet pressure outside the suction cup can realize layered adsorption grabbing and release of the target object.

[0052] The number of suction cups can be flexibly changed from four to seventeen, and the number and position can be adjusted according to the shape and mass of the grabbed target, so that the grabbing device has strong adaptability and flexibility.

[0053] The application also discloses a use method of the suction cup of the non-contact grabbing device. The airflow is delivered into the cavity 20, and the airflow flows vertically downward along the cavity 20, part of which enters the honeycomb assembly 30, and the other part enters the lifting body 40; The airflow flows downward in the honeycomb assembly 30 through the plurality of air inlet holes two 31 arranged in the circumference, at the outlet of the air inlet holes two 31, the airflow is guided by the airflow baffle 34, and then starts to flow horizontally in all directions to form the first horizontal airflow; The airflow flows vertically downward in the lifting body 40 through the air inlet holes three 42, and then flows out in the horizontal direction after being guided by the middle disc 50 to form the second horizontal airflow; When the second horizontal airflow flows in the horizontal direction, it gradually converges with the first horizontal airflow, and then enters the flush disc 60, the airflow flows out in the horizontal direction along the arc-shaped airflow surface 62, and non-contact grabbing is realized.

[0054] The high-pressure airflow is injected into the cavity 20 through the top air inlet 1 22, and a multi-channel coupled jet is formed through a number of air inlet 2 31 and air inlet 3 42 arranged circumferentially. The flow channel structures of the honeycomb assembly, the lifting body and the middle disc cooperate to form a two-stage stepped flow channel structure. Under the action of the two-stage stepped flow channel structure, the two airflows complete momentum transfer at the bottom through the transverse jet mechanism, and their velocity attenuation rate can be significantly reduced in the direction of the bottom expansion plane. The high-speed airflow carries away the air in the bottom space and forms a large and stable negative pressure zone at the bottom. Further, through the synergistic effect of the circumferentially distributed guide ribs 63 and the stepped flow channel, active regulation of the air gap thickness is achieved. The height of the outer guide ribs 63 is designed to be flush with the bottom of the central disc 50, so that the grasped object is free of impact in the longitudinal direction and has an optimal clearance height in the transverse direction. The stepped exhaust method can increase the coverage area of ​​the negative pressure zone and reduce the standard deviation of pressure fluctuations, verifying the engineering value of the stepped flow channel in controlling jet attenuation and maintaining pressure stability. It can achieve precise and stable grasping of various large flat surfaces, flexible, breathable fabrics and other targets without damaging the target objects.

[0055] See also Figure 17 It can be seen that the gripping surface presents a large negative pressure area and the pressure gradient is small, which meets the requirements of stable adsorption. Figure 18 It can be seen that the Venturi effect caused by the high-speed jet extends from the primary disc area to the secondary circular hole area, forming an obvious low-pressure field and acting on the flow channel width with a larger diameter. At the same time, local backflow occurs in the inner area inside the circular aperture. This is because a large negative pressure area is formed during the injection of the bottom high-speed airflow, which causes the airflow close to the circular hole to be subjected to an upward force, thereby generating backflow. The reflow area is relatively small and is mainly concentrated in the area near the center of the inner diameter of the circular hole, which will not affect the flow state and pressure distribution of the outlet airflow. At the same time, it can be seen that the direction distribution of the bottom airflow is better, which is a horizontal and vertical upward airflow distribution, and there is no vertical downward airflow, which further shows that it can meet the characteristics of longitudinal impact-free.

[0056] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A suction cup for a non-contact gripping device, characterized in that: It comprises a lifting body (40) and a middle disc (50) disposed at the lower end of the lifting body (40); a honeycomb component (30) is sleeved on the outer side of the lifting body (40); and a cavity (20) and a leveling disc (60) are sleeved on the outer side of the honeycomb component (30) in sequence from top to bottom; The cavity (20) has an air flow inlet at its upper end and an air flow outlet at its lower end. The air flow outlet of the cavity (20) is connected to the air flow inlet of the honeycomb assembly (30) and the air flow inlet of the lifting body (40), respectively. The air flow outlet of the honeycomb assembly (30) and the air flow outlet of the lifting body (40) are both connected to the air flow inlet of the leveling disc (60). The middle disc (50) is used to guide the output airflow of the lifting body (40) from the vertical direction to the horizontal direction and then enter the leveling disc (60).

2. The suction cup for a non-contact gripping device according to claim 1, characterized in that: A honeycomb connection hole is provided inside the honeycomb assembly (30), and the lifting body (40) is connected to the honeycomb connection hole; A plurality of air inlet holes (31) are provided in the honeycomb assembly (30), and the plurality of air inlet holes (31) are distributed circumferentially along the honeycomb connecting hole. The axis of the air inlet hole (31) is parallel to the axis of the honeycomb connecting hole. The air flow inlet of the air inlet hole (31) is located at one end close to the cavity (20), and the air flow outlet of the air inlet hole (31) is located at one end away from the cavity (20). An air flow baffle (34) is provided at the air flow outlet of the air inlet hole (31), and the air flow baffle (34) is used to guide the output air flow of the air inlet hole (31) from the vertical direction to the horizontal direction.

3. The suction cup for a non-contact gripping device according to claim 2, characterized in that: The lifting body (40) is provided with a fifth mounting hole (41), and the fifth mounting hole (41) is used for connecting the middle disc (50); A plurality of air inlet holes three (42) are provided on the lifting body (40), and the air inlet holes three (42) are distributed circumferentially along the mounting hole five (41).

4. The suction cup for a non-contact gripping device according to claim 2, characterized in that: The airflow baffle (34) includes a vertical portion and a horizontal portion that are vertically connected, the vertical portion is connected to the inner wall of the honeycomb connection hole, and the horizontal portion is located below the airflow outlet of the second air inlet hole (31), and the horizontal portion is spaced apart from the airflow outlet of the second air inlet hole (31).

5. The suction cup for a non-contact gripping device according to claim 3, characterized in that: The outer side wall of the lifting body (40) is provided with a second external mounting thread (43), and the inner side wall of the honeycomb connection hole is provided with a first internal mounting thread (32) correspondingly connected to the second external mounting thread (43).

6. The suction cup for a non-contact gripping device according to claim 3, characterized in that: An external mounting thread three (51) is provided on the upper end of the middle disc (50), and the external mounting thread three (51) is connected to the mounting hole five (41); The outer surface of the middle disc (50) is a smooth curved surface, comprising a raised portion located in the center and horizontal edge portions distributed circumferentially along the raised portion, wherein the raised portion and the horizontal edge portions are smoothly transitionally connected.

7. The suction cup for a non-contact gripping device according to claim 1, characterized in that: A disc connection hole is provided inside the flush disc (60), and the disc connection hole is used to connect the honeycomb assembly (30); The outer surface of the flush disc (60) is an arc-shaped airflow surface (62), and a plurality of guide ribs (63) are distributed circumferentially on the arc-shaped airflow surface (62).

8. A non-contact grasping device, characterized in that: It comprises a suction cup mounting panel (10), wherein a plurality of mounting slots are provided on the suction cup mounting panel (10), and the mounting slots are used for mounting the suction cup for the non-contact gripping device according to any one of claims 1 to 7; A mounting hole (11) is provided on the suction cup mounting panel (10), and the mounting hole (11) is used for connecting the robotic arm.

9. The non-contact gripping device according to claim 8, characterized in that: A suction cup mounting hole (12) is provided at the center of the suction cup mounting panel (10), and a plurality of arc-shaped through holes (15) are distributed circumferentially around the suction cup mounting hole (12). A plurality of suction cups for non-contact gripping devices can be mounted in the arc-shaped through holes (15).

10. A method for using the suction cup for a non-contact gripping device according to claim 1, characterized in that: The following steps are involved: The airflow is delivered into the cavity (20), and the airflow flows vertically downward along the cavity (20), with a portion entering the honeycomb assembly (30) and the other portion entering the lifting body (40); After the airflow changes from a vertical direction to a horizontal direction along the honeycomb assembly (30), it flows out along the circumference of the honeycomb assembly (30) to form a first horizontal airflow; The airflow flows vertically downward along the lifting body (40), is guided by the middle disc (50), and then flows out horizontally to form a second horizontal airflow; The second horizontal airflow merges with the first horizontal airflow when flowing in the horizontal direction, and then enters the flush disk (60), and the airflow flows out horizontally along the circumference of the flush disk (60), thereby achieving non-contact grasping.

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