Suction cup for a non-contact gripping device, gripping device and method of use

Abstract

The application discloses a suction disc for a non-contact grabbing device, a grabbing device and a use method. After entering the interior, the interior of the suction disc guides the entering airflow, and the input airflow can be guided from the vertical direction to the horizontal direction and discharged. The honeycomb assembly and the lifting body form a double-ladder type flow channel structure. After the airflow entering the honeycomb assembly is changed from the vertical direction to the horizontal direction, the airflow flows out along the circumference of the honeycomb assembly. The airflow entering the lifting body flows out along the horizontal direction after being guided by the middle disc. The two airflows complete momentum transmission through the transverse jet mechanism at the bottom. The speed attenuation rate of the two airflows can be significantly reduced in the expansion plane direction of the bottom. The high-speed airflow carries away the air in the space at the bottom and forms a large 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 thickness of the air gap is actively regulated, the grabbed object is not impacted in the longitudinal direction, and optimal grabbing in the transverse direction is achieved.

Description

Technical Field

[0001] This invention belongs to the field of robotic gripping technology, and relates to a suction cup, gripping device, and method of use for a non-contact gripping device. Background Technology

[0002] In the fields of precision industrial manufacturing and high-value material handling, current grasping technologies face significant technical bottlenecks for targets with large flatness, irregularity, and flexibility, such as optical glass substrates, semiconductor wafers, ultra-thin flexible circuit boards, high-grade leather products, textile composite materials, and nanoscale thin films.

[0003] Traditional mechanical grippers, limited by their rigid contact characteristics, are prone to causing microscopic stress damage to planar targets when gripping them. This is especially true when handling high-precision targets such as wafers or integrated circuit boards, where mechanical contact-induced surface microstructure damage directly impacts product yield. While flexible adaptive grippers can improve contact stress distribution, their deformation-based topological adaptation capabilities have physical limitations, making it difficult to achieve millimeter-level planar bonding of materials with megapascal-level elastic modulus. Furthermore, they are prone to inducing material creep when gripping flexible substrates with high aspect ratios (aspect ratio > 10). Electrostatic adsorption gripping, on the one hand, can lead to residual charge accumulation due to dielectric polarization, which can induce device breakdown risks in wafer-level packaging scenarios. On the other hand, the charge hysteresis effect requires natural or artificial discharge after each gripping, making continuous gripping impossible. Additionally, it easily attracts environmental dust, placing high demands on environmental conditions. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art where the gripping method causes micro-stress damage to the target or induces material creep, affecting product yield, and some gripping devices cannot achieve continuous gripping and are prone to dust accumulation during gripping. The invention provides a suction cup, gripping device and method of use for a non-contact gripping device.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A suction cup for a non-contact gripping device, characterized in that it includes a lifting body and a central disc placed at the lower end of the lifting body, wherein a honeycomb assembly is sleeved on the outer side of the lifting body, and a cavity and a flush disc are sequentially sleeved on the outer side of the honeycomb assembly from top to bottom.

[0007] The cavity has an airflow inlet at the upper end and an airflow outlet at the lower end. The airflow outlet of the cavity is connected to the airflow inlet of the honeycomb module and the airflow inlet of the lifting body, respectively. The airflow outlet of the honeycomb module and the airflow outlet of the lifting body are both connected to the airflow inlet of the flat disc.

[0008] The central disc is used to guide the output airflow of the lifting body from the vertical direction to the horizontal direction and then into the flat disc.

[0009] A further improvement of the present invention is that:

[0010] The honeycomb assembly has honeycomb connection holes inside, and the lifting body is connected to the honeycomb connection holes;

[0011] The honeycomb assembly has several air inlets, which are distributed circumferentially along the honeycomb connecting holes. The axis of the air inlets is parallel to the axis of the honeycomb connecting holes. The air inlet of the air inlet is located at one end closer to the cavity, and the air outlet of the air inlet is located at one end farther from the cavity. An airflow baffle is provided at the air outlet of the air inlet, which is used to guide the output airflow of the air inlet from the vertical direction to the horizontal direction.

[0012] The lifting body is provided with five mounting holes, which are used to connect the central disc.

[0013] The lifting body has several air inlets, which are distributed around the mounting holes.

[0014] The airflow baffle includes a vertically connected vertical part and a horizontal part. The vertical part is connected to the inner wall of the honeycomb connecting hole, and the horizontal part is located below the airflow outlet of the second air inlet. The horizontal part is spaced apart from the airflow outlet of the second air inlet.

[0015] The outer side wall of the lifting body is provided with an external mounting thread two, and the inner side wall of the honeycomb connecting hole is provided with an internal mounting thread one that is connected to the external mounting thread two.

[0016] The upper end of the central disk is provided with an external mounting thread three, which is connected to the mounting hole five.

[0017] The outer surface of the central disk is a smooth curved surface, which includes a central protrusion and horizontal edge portions distributed circumferentially along the protrusion. The protrusion and the horizontal edge portions are smoothly connected.

[0018] The flat disc has a disc connection hole inside, which is used to connect the cellular component;

[0019] The outer surface of the flat circular disk is an arc-shaped airflow surface, and several guide ribs are distributed circumferentially on the arc-shaped airflow surface.

[0020] A non-contact gripping device includes a suction cup mounting panel, wherein a plurality of mounting slots are provided on the suction cup mounting panel, the mounting slots being used to mount the suction cup of the non-contact gripping device according to any one of the present invention.

[0021] The suction cup mounting panel has a mounting hole 1, which is used to connect the robotic arm.

[0022] The suction cup mounting panel has a suction cup mounting hole at its center, and several arc-shaped through holes are distributed around the suction cup mounting hole. Several suction cups for non-contact gripping devices can be installed in the arc-shaped through holes.

[0023] A method of using the suction cup of the non-contact gripping device according to the present invention includes the following steps:

[0024] The airflow is delivered into the cavity, and the airflow flows vertically downward along the cavity. Part of the airflow enters the honeycomb module, and the other part enters the lifting body.

[0025] After the airflow changes from a vertical direction to a horizontal direction along the honeycomb component, it flows out along the circumference of the honeycomb component, forming the first horizontal airflow.

[0026] The airflow flows vertically downwards along the lifting body, and after being guided by the central disk, it flows out horizontally, forming a second horizontal airflow.

[0027] When the second horizontal airflow flows horizontally, it merges with the first horizontal airflow and then enters the flat disc. The airflow flows out horizontally along the circumference of the flat disc, achieving non-contact grasping.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] This invention discloses a suction cup for a non-contact gripping device. After airflow enters the internal structure, the suction cup guides the incoming airflow, directing it from a vertical direction to a horizontal direction for discharge. The honeycomb assembly and the lifting body form a double-step flow channel structure. After the airflow is discharged through the cavity, part of it enters the honeycomb assembly, and the other part enters the lifting body. The airflow entering the honeycomb assembly changes from a vertical direction to a horizontal direction and flows out along the circumference of the honeycomb assembly. The airflow entering the lifting body is guided by the central disc and flows out horizontally. The two airflows complete momentum transfer at the bottom through a lateral jet mechanism. The velocity attenuation rate can be significantly reduced in the expansion plane direction at the bottom. The high-speed airflow carries away the air in the bottom space and forms a large and stable negative pressure zone at the bottom. Through the synergistic effect of lateral guidance and the double-step flow channel structure, the air gap thickness can be actively controlled. Through the stepped exhaust method, the coverage area of ​​the negative pressure zone can be expanded, so that the airflow finally flows out horizontally along the circumference of the flush disc, thereby reducing the standard deviation of pressure fluctuation during non-contact gripping, ensuring that the gripped object is not impacted in the longitudinal direction and achieving optimal gripping in the lateral direction.

[0030] Furthermore, in this invention, several air inlets are distributed circumferentially on the outer side of the honeycomb connecting holes. The air inlets are opened vertically along the honeycomb assembly, and the circumferential array distribution structure forms a multi-channel coupled jet, which facilitates the subsequent energy transfer of the airflow.

[0031] Furthermore, in this invention, the airflow baffle includes a vertically connected vertical part and a horizontal part. The vertical part is connected to the inner wall of the honeycomb connecting hole to guide the airflow so that the airflow can be transmitted along the preset flow channel.

[0032] Furthermore, in this invention, the smooth curved surface includes a central protrusion and a horizontal edge portion distributed circumferentially along the protrusion. The protrusion and the horizontal edge portion are smoothly connected. This structure can effectively guide the vertically downward airflow into a lateral flow, so that the airflow forms a large and stable negative pressure zone at the bottom.

[0033] Furthermore, in this invention, the outer surface of the flat disc is an arc-shaped airflow surface, and several guide ribs are distributed circumferentially on the arc-shaped airflow surface. The guide ribs divide the airflow into multiple channels for discharge. This guide structure, in conjunction with the outlet wall with curved surface, reduces the impact of the airflow and achieves the optimal gripping effect in the lateral direction.

[0034] This invention discloses a non-contact gripping device. The mounting panel has several arc-shaped through holes. Depending on the mass or area of ​​the object being gripped, the suction cups can adjust their relative position from the center along the arc-shaped through holes during gripping, thereby adjusting the overall gripping area. The arc-shaped through holes can accommodate several suction cups for the non-contact gripping device. The number of suction cups can be adjusted according to the mass or area of ​​the object being gripped. For breathable fabrics, which have a smaller mass and larger area, the number and distribution diameter of suction cups can be increased, and the gripping process can be completed with a lower air supply pressure. The circumferential distribution of the arc-shaped through holes provides the gripping device with greater flexibility and multi-tasking capabilities, enabling it to handle objects of different shapes, weights, and characteristics, and achieving precise control and release of gripping force.

[0035] This invention discloses a method for using a suction cup in a non-contact gripping device. After airflow enters the interior, the suction cup guides the incoming airflow, directing it from a vertical direction to a horizontal direction for discharge. The honeycomb assembly and the lifting body form a double-step flow channel structure. After the airflow is discharged through the cavity, part of it enters the honeycomb assembly, and the other part enters the lifting body. The airflow entering the honeycomb assembly changes from a vertical to a horizontal direction and flows out circumferentially along the honeycomb assembly. The airflow entering the lifting body is guided by the central disc and flows out horizontally. The two airflows pass through the bottom... Momentum transfer is accomplished through a transverse jet mechanism, and its velocity decay rate can be significantly reduced in the expansion plane direction at the bottom. The high-speed airflow carries away the air in the bottom space and forms a large and stable negative pressure zone at the bottom. Through the synergistic effect of transverse guidance and double-step flow channel structure, the air gap thickness can be actively controlled. Through the stepped exhaust method, the coverage area of ​​the negative pressure zone can be expanded, so that the airflow eventually flows out horizontally along the circumference of the flat disc, thereby reducing the standard deviation of pressure fluctuation during non-contact grasping, so that the grasped object is not impacted in the longitudinal direction, and the optimal grasping in the transverse direction can be achieved. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the internal structure of the suction cup assembly according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the cavity structure according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the internal structure of the cavity according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the cellular component structure according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the bottom structure of a cellular component according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the internal structure of a cellular component according to an embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of the lifting body structure according to an embodiment of the present invention;

[0044] Figure 8This is a schematic diagram of the central disk structure in an embodiment of the present invention;

[0045] Figure 9 This is a schematic diagram of the flush disc structure according to an embodiment of the present invention;

[0046] Figure 10 This is a schematic diagram of the internal structure of the flat circular disk according to an embodiment of the present invention;

[0047] Figure 11 This is a schematic diagram of the non-contact gripping device according to an embodiment of the present invention;

[0048] Figure 12 This is a schematic diagram of the bottom structure of the non-contact gripping device according to an embodiment of the present invention;

[0049] Figure 13 This is a schematic diagram of the suction cup mounting panel structure according to an embodiment of the present invention;

[0050] Figure 14 This is a schematic diagram of the mounting flange structure according to an embodiment of the present invention;

[0051] Figure 15 This is a schematic diagram of the part plate structure according to an embodiment of the present invention;

[0052] Figure 16 This is a schematic diagram of the double-threaded cylinder structure according to an embodiment of the present invention;

[0053] Figure 17 This is a pressure cloud diagram of the adsorption surface in an embodiment of the present invention;

[0054] Figure 18 This is a cross-sectional velocity vector diagram according to an embodiment of the present invention.

[0055] The components are as follows: 10. Suction cup mounting panel; 11. Mounting hole one; 12. Suction cup mounting hole; 13. Air tube rectifier hole; 14. Mounting hole two; 15. Arc-shaped through hole; 16. Turbulent flow hole one; 17. Turbulent flow hole two; 18. Mounting hole three; 20. Cavity; 21. Mounting hole four; 22. Air inlet one; 23. Fixing ear; 30. Honeycomb assembly; 31. Air inlet two; 32. Internal mounting thread one; 33. External mounting thread one. 34. Airflow baffle; 40. Lifting body; 41. Mounting hole five; 42. Air inlet three; 43. External mounting thread two; 50. Central disc; 51. External mounting thread three; 60. Flush disc; 61. Internal mounting thread two; 62. Arc-shaped airflow surface; 63. Guide rib; 70. Mounting flange; 71. Robotic arm mounting hole; 80. Parts plate; 81. Flange mounting hole; 82. Mounting hole six; 90. Double-ended threaded cylinder. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0058] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0059] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0060] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0061] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0062] The present invention will now be described in further detail with reference to the accompanying drawings:

[0063] See Figures 1 to 18 This invention discloses a suction cup, a gripping device, and a method of use for a non-contact gripping device. The invention is designed based on Bernoulli's principle to achieve non-contact rapid gripping and release of various precision, flexible, and large planar targets.

[0064] See Figure 1 This embodiment discloses a suction cup for a non-contact gripping device, comprising a lifting body 40 and a central disc 50 connected sequentially from top to bottom. A honeycomb assembly 30 is sleeved on the outer side of the lifting body 40, and a cavity 20 and a flat disc 60 are sleeved sequentially from top to bottom on the outer side of the honeycomb assembly 30. An airflow input end is provided on the cavity 20, and the output end of the cavity 20 is connected to the input end of the honeycomb assembly 30 and the input end of the lifting body 40, respectively. The output ends of the honeycomb assembly 30 and the lifting body 40 are both connected to the input end of the flat disc 60. The airflow is discharged horizontally through the output end of the flat disc 60 to achieve gripping.

[0065] The cellular component 30 is capable of guiding the input airflow from the vertical direction to the horizontal direction.

[0066] The central 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.

[0067] See Figures 2 to 3 Furthermore, in this embodiment of the invention, the structure of the cavity 20 is as follows:

[0068] The upper end of the cavity 20 is provided with an air inlet 22, which is connected to an external high-pressure airflow. The bottom of the cavity 20 has protruding fixing ears 23 on both sides, and the fixing ears 23 are provided with mounting holes 21. The fixing ears 23 are used to connect the suction cup mounting panel 10. The mounting holes 21 are fixed to the mounting holes 14 and 18 by bolts.

[0069] Furthermore, an airflow inlet is provided at the upper end of the cavity 20, and an airflow outlet is provided at the lower end.

[0070] See Figures 4 to 6 Furthermore, in this embodiment of the invention, the structure of the cellular component 30 is as follows:

[0071] The honeycomb assembly 30 has several air inlets 31 arranged around its circumference, and the upper part of the air inlets 31 is connected to the cavity 20. A honeycomb connection hole is opened in the middle of the honeycomb assembly 30. The inner sidewall of the honeycomb connection hole has an internal mounting thread 32, which is connected to an external mounting thread 43. The internal mounting thread 32 is flush with the air inlets 31. Several air inlets 31 are distributed around the honeycomb connection hole. The axis of the air inlets 31 is parallel to the axis of the honeycomb connection hole. The end of the air inlet 31 closest to the cavity 20 is the air inlet, and the other end is the air outlet.

[0072] The cellular component 30 is provided with an external mounting thread 33. The inside of the flush disc 60 is provided with a disc connection hole. The inner side wall of the disc connection hole is provided with an internal mounting thread 61. The external mounting thread 33 is connected to the internal mounting thread 61. The connection position is adjusted according to the vertical height of the middle disc 50. It is necessary to ensure that the guide rib 63 of the flush disc 60 is flush with the bottom of the middle disc 50.

[0073] An airflow baffle 34 is provided on the honeycomb assembly 30. The airflow baffle 34 includes a vertical part and a horizontal part that are vertically connected. The connection between the vertical part and the horizontal part has a curved chamfer. The vertical part is connected to the inner wall of the honeycomb connection hole. The horizontal part is located below the airflow outlet of the second air inlet 31. There is a gap between the horizontal part and the airflow outlet of the second air inlet 31.

[0074] See Figure 7 Furthermore, in this embodiment of the invention, the structure of the lifting body 40 is as follows:

[0075] The lifting body 40 is a device that connects the middle part of the suction cup assembly to the middle disc 50. The lifting body 40 has a mounting hole 41 in its middle, which connects to the external mounting thread 51 of the middle disc 50. During installation, the vertical height of the middle disc 50 can be adjusted to a suitable position to ensure that the guide rib 63 of the flush disc 60 is flush with the bottom of the middle disc 50. The air inlet 42 is arranged in a ring shape in the middle of the lifting body 40, and its outer surface has an external mounting thread 43, which connects to the internal mounting thread 32.

[0076] See Figure 8 Furthermore, in this embodiment of the invention, the structure of the central disk 50 is as follows:

[0077] The central disc 50 is a device for connecting the bottom of the suction cup assembly to the lifting body 40. The upper part of the central disc is provided with an external mounting thread 3 51, which is connected to the mounting hole 5 41 at the bottom of the lifting body 40.

[0078] The outer surface of the central disk 50 is a smooth curved surface, which includes a central protrusion and horizontal edge portions distributed circumferentially along the protrusion. The protrusion and the horizontal edge portions are smoothly connected.

[0079] See Figures 9 to 10 Furthermore, in this embodiment of the invention, the structure of the flush disc 60 is as follows:

[0080] The flat disc 60 is a device for connecting the suction cup assembly to the honeycomb assembly 30. It has an internal mounting thread 61 for connecting to the external mounting thread 33. The outer circumference is a curved airflow surface 62. Eight guide ribs 63 are set in the circumference of the curved airflow surface 62. After installation, each guide rib 63 is located between two airflow baffles 34 in the horizontal direction to prevent airflow collision and interference.

[0081] The components of the suction cup are connected by threads, allowing for quick installation and disassembly. The airflow gap of the central disc can also be adjusted, greatly improving the adaptability of the gripping device.

[0082] See Figures 11 to 13 The present invention also discloses a non-contact gripping device, including a suction cup mounting panel 10, wherein a plurality of mounting slots are provided on the suction cup mounting panel 10, the mounting slots being used to mount the suction cup of the non-contact gripping device according to any one of claims 1-7; and a mounting hole 11 is provided on the suction cup mounting panel 10, the mounting hole 11 being used to connect a robotic arm.

[0083] Furthermore, in this embodiment of the invention, the structure of the suction cup mounting panel 10 is as follows:

[0084] The suction cup mounting panel 10 has a suction cup mounting hole 12 and four mounting holes 11 at its center. Four mounting holes 18 are arranged around the periphery of the suction cup mounting hole 12, and four turbulent flow holes 17 are arranged around the periphery of the mounting holes 18. Four turbulent flow holes 16 are arranged on the outside of the suction cup mounting panel 10. Four air duct rectifier holes 13 are evenly arranged outwards from the center of the suction cup mounting panel 10. Several mounting holes 14 and arc-shaped through holes 15 are arranged outwards from the air duct rectifier holes 13. The suction cups are installed within the arc-shaped through holes 15, and each arc-shaped through hole 15 can accommodate up to four suction cup units. The suction cup includes a cavity 20, a honeycomb assembly 30, a lifting body 40, a central disc 50, and a flush disc 60. All components in the suction cup are connected by threads. The cavity 20 is located within the arc-shaped through holes 15, and the honeycomb assembly 30, lifting body 40, central disc 50, and flush disc 60 are all located below the suction cup mounting panel 10.

[0085] Specifically, mounting hole 2 14 and mounting hole 3 18 are both connected to mounting hole 4 21.

[0086] Specifically, to avoid airflow collisions and reduce the overall weight of the suction cup mounting panel, several turbulent flow holes 16 and turbulent flow holes 17 are provided around the circumference of the suction cup mounting panel 10.

[0087] Specifically, the air rectifier hole 13 is used to install a T-junction, which connects to an external high-pressure air pump device via a PU tube and connects to the end of the robotic arm along the path of the robotic arm body. The airflow is then delivered to each suction cup through the T-junction. The working air pressure of the high-pressure air pump is 0.2Mpa-0.8Mpa. When gripping materials with small volume and low mass, the number of suction cups can be reduced, and the suction cup assembly can be moved closer to the arc-shaped through hole 15 of the suction cup mounting panel 10 to reduce the gripping surface and complete the gripping process.

[0088] See Figures 14 to 16 Furthermore, in this embodiment, the mounting flange 70, the part plate 80, and the double-threaded cylinder 90 serve as the device for fixing the suction cup mounting panel 10 and connecting the end of the robotic arm. The bottom of the double-threaded cylinder 90 is mounted to the mounting hole 11 via external mounting thread four 91, and the upper part is mounted to the mounting hole six 82. The part plate 80 has four flange mounting holes 81 in the middle that connect to the robotic arm mounting holes 71 in the mounting flange 70, and four mounting holes six 82 on the outside for connecting the double-threaded cylinder 90. The outer connection of the part plate has an arc-shaped structure. The separate design ensures the accuracy and strength of the connection between the components and simplifies the processing of the parts.

[0089] This embodiment employs a pneumatically controlled operating mode: when gripping materials with large volume and high mass, the number of suction cups can be increased, and the suction cup assembly can be moved closer to the outside of the arc-shaped through-hole 15 of the suction cup mounting panel 10 to increase the gripping surface and gripping mass, thus completing the gripping process. Simultaneously, for breathable fabrics, which have smaller mass and larger area, the number and distribution diameter of suction cups can be increased, and the gripping process can be completed with a lower air supply pressure. This flexible installation method provides the gripping device with greater flexibility and multi-tasking capabilities, enabling it to handle objects of different shapes, weights, and characteristics, and achieve precise control of gripping force and release. This design provides the device of this invention with a wider range of applications and higher practicality. Furthermore, this invention achieves layered adsorption and gripping of flexible targets such as low-density fabrics and leather. The longitudinal airflow-free design ensures gripping stability, and adjusting the external air intake pressure of the suction cups allows for layered adsorption gripping and release of the target object.

[0090] The number of suction cups can be flexibly varied from four to seventeen, and the number and position can be adjusted according to the shape and quality of the target being grasped, making the grasping device highly adaptable and flexible.

[0091] The present invention also discloses a method for using a suction cup in a non-contact gripping device, comprising the following steps:

[0092] The airflow is delivered into the cavity 20, and the airflow flows vertically downward along the cavity 20. Part of the airflow enters the honeycomb component 30, and the other part enters the lifting body 40.

[0093] The airflow flows downward through several circumferentially arranged air inlets 31 within the honeycomb assembly 30. After being guided by the airflow baffle 34 at the outlet of the air inlets 31, it begins to flow horizontally in all directions, forming the first horizontal airflow.

[0094] The airflow flows vertically downward through the air inlet 42 within the lifting body 40, and after being guided by the central disc 50, it flows out horizontally, forming a second horizontal airflow.

[0095] As the second horizontal airflow flows horizontally, it gradually merges with the first horizontal airflow and then enters the flat disc 60. The airflow flows out horizontally along the arc-shaped airflow surface 62, achieving non-contact grasping.

[0096] High-pressure airflow is injected into cavity 20 through top air inlet 22, forming a multi-channel coupled jet through several circumferentially arranged air inlets 31 and 42. The flow channel structure of the honeycomb assembly, the lifting body, and the central disc works together 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 a transverse jet mechanism, and their velocity attenuation rate can be significantly reduced in the expansion plane direction at the bottom. The high-speed airflow carries away the air in the bottom space and forms a large and stable negative pressure zone at the bottom. Furthermore, through the synergistic effect of the circumferentially distributed guide ribs 63 and the stepped flow channel, the active control of the air gap thickness is achieved. With the outer guide ribs 63 aligned with the bottom of the central disc 50, the design achieves longitudinal impact-free gripping of the object and optimal lateral clearance height. The stepped exhaust method increases the negative pressure zone coverage area and reduces the standard deviation of pressure fluctuation, verifying the engineering value of the stepped flow channel in controlling jet attenuation and maintaining pressure stability. It can achieve precise and stable gripping of various large flat surfaces, flexible and breathable fabrics without damaging the target object.

[0097] See Figure 17 It can be seen that the grasping surface exhibits a large area of ​​negative pressure and a relatively small pressure gradient, which satisfies the requirements for stable adsorption. From Figure 18 It can be seen that the Venturi effect induced by the high-speed jet extends from the first-stage disk region to the second-stage orifice region, forming a significant low-pressure field that acts on a relatively large diameter flow channel. Simultaneously, localized backflow occurs in the inner region within the orifice. This is because a large negative pressure region is formed during the high-speed jet ejection at the bottom, causing the airflow near the orifice to experience an upward force, thus generating backflow. This backflow region is relatively small and mainly concentrated near the center of the orifice's inner diameter, and does not affect the flow state or pressure distribution of the outlet airflow. Furthermore, it can be seen that the directional distribution of the bottom airflow is good, exhibiting both lateral and vertically upward airflow, with no vertically downward airflow, further demonstrating that it can meet the longitudinal impact-free characteristic.

[0098] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should 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 includes a lifting body (40) and a central disc (50) placed at the lower end of the lifting body (40). A honeycomb assembly (30) is sleeved on the outside of the lifting body (40). A cavity (20) and a flat disc (60) are sleeved on the outside of the honeycomb assembly (30) from top to bottom. The cavity (20) has an airflow inlet at the upper end and an airflow outlet at the lower end. The airflow outlet of the cavity (20) is connected to the airflow inlet of the honeycomb assembly (30) and the airflow inlet of the lifting body (40). The airflow outlet of the honeycomb assembly (30) and the airflow outlet of the lifting body (40) are both connected to the airflow inlet of the flat disc (60). The central 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 flat disc (60). The honeycomb assembly (30) has honeycomb connection holes inside, and the lifting body (40) is connected to the honeycomb connection holes; The honeycomb assembly (30) has several air inlets (31) inside. The several air inlets (31) are distributed around the honeycomb connecting holes. The axis of the air inlets (31) is parallel to the axis of the honeycomb connecting holes. The air inlet of the air inlet (31) is located at one end close to the cavity (20), and the air outlet of the air inlet (31) is located at one end away from the cavity (20). An airflow baffle (34) is provided at the air outlet of the air inlet (31). The airflow baffle (34) is used to guide the output airflow of the air inlet (31) from the vertical direction to the horizontal direction. The lifting body (40) is provided with mounting hole five (41), which is used to connect the central disc (50). The lifting body (40) has several air inlets (42) and the air inlets (42) are distributed circumferentially along the mounting holes (41); The airflow baffle (34) includes a vertical part and a horizontal part connected vertically. The vertical part is connected to the inner wall of the honeycomb connecting hole. The horizontal part is located below the airflow outlet of the second air inlet (31). The horizontal part is spaced apart from the airflow outlet of the second air inlet (31). The upper end of the central disc (50) is provided with an external mounting thread three (51), which is connected to the mounting hole five (41); The outer surface of the central disk (50) is a smooth curved surface, which includes a central protrusion and a horizontal edge portion distributed circumferentially along the protrusion. The protrusion and the horizontal edge portion are smoothly connected. The flat disc (60) has a disc connection hole inside, which is used to connect the honeycomb assembly (30). The outer surface of the flat disc (60) is an arc-shaped airflow surface (62), and several guide ribs (63) are distributed circumferentially on the arc-shaped airflow surface (62).

2. The suction cup for a non-contact gripping device according to claim 1, characterized in that, The outer side wall of the lifting body (40) is provided with an external mounting thread two (43), and the inner side wall of the honeycomb connecting hole is provided with an internal mounting thread one (32) that is connected to the external mounting thread two (43).

3. A non-contact gripping device, characterized in that, Includes a suction cup mounting panel (10), on which a plurality of mounting slots are provided, the mounting slots being used to mount the suction cups for the non-contact gripping device as described in any one of claims 1-2; The suction cup mounting panel (10) has a mounting hole (11) for connecting the robotic arm.

4. A non-contact gripping device according to claim 3, characterized in that, The suction cup mounting panel (10) has a suction cup mounting hole (12) in the center, and several arc-shaped through holes (15) are distributed around the suction cup mounting hole (12). Several suction cups for non-contact gripping devices can be installed in the arc-shaped through holes (15).

5. A method of using the suction cup for a non-contact gripping device as described in claim 1, characterized in that, Includes the following steps: The airflow is delivered into the cavity (20), and the airflow flows vertically downward along the cavity (20). Part of the airflow enters the honeycomb assembly (30), and the other part enters the lifting body (40). After the airflow changes from a vertical direction to a horizontal direction along the honeycomb component (30), it flows out circumferentially along the honeycomb component (30) to form a first horizontal airflow; The airflow flows vertically downward along the lifting body (40), and after being guided by the central disc (50), it flows out horizontally, forming a second horizontal airflow; When the second horizontal airflow flows horizontally, it merges with the first horizontal airflow and then enters the flat disc (60). The airflow flows horizontally along the circumference of the flat disc (60) to achieve non-contact grasping.

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