Vacuum chuck device

Abstract

The invention relates to the technical field of mechanical clamps, and discloses a vacuum suction cup device which comprises a bottom plate, an air exhaust mechanism is fixedly installed on the upper portion of the bottom plate and used for providing vacuum air, and a cleaning mechanism is arranged on the upper portion of the bottom plate and comprises an adjusting assembly, a driving assembly, a cleaning assembly and an air blowing assembly. The device comprises an air exhaust mechanism which is used for cleaning and purging the device, an adsorption mechanism is fixedly installed on the upper portion of the air exhaust mechanism and used for adsorbing objects, and an anti-falling mechanism is further arranged on the upper portion of the air exhaust mechanism and used for fixing the objects when the adsorption mechanism adsorbs the objects. A nozzle at the bottom of the cleaning box is matched with a rotating cleaning brush, residual impurities are blown away through a fan of an air blowing assembly, it is guaranteed that an adsorption interface is clean and dry, the complete cleaning process of spraying cleaning liquid, rotating scrubbing and airflow drying is formed, the sealing efficiency of an adsorption disc and objects is improved, and the adsorption stability and reliability are effectively guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical clamps, in particular to a vacuum chuck device. BACKGROUND

[0002] In the field of industrial automation, vacuum chuck devices, as a common mechanical clamp, are widely used in scenarios such as grabbing, carrying and assembling of objects. However, there are still some problems in the actual application of existing vacuum chuck devices that need to be solved.

[0003] On the one hand, in the long-term use of traditional vacuum chuck devices, dust, oil stains and other impurities are easily attached to the surface of the suction plate, resulting in poor sealing of the suction interface, a decrease in vacuum degree, and even suction failure. In environments with a lot of dust, such as electronic manufacturing and metal processing, the accumulation of impurities can significantly reduce the reliability of suction, and frequent manual cleaning is required, which affects production efficiency. However, existing devices lack automatic cleaning mechanisms and rely on manual operation, making it difficult to meet the needs of high-speed and continuous operation.

[0004] On the other hand, for workpieces with uneven surfaces and various materials, traditional vacuum chucks only rely on single vacuum negative pressure suction, which still has defects, such as poor adaptability to curved surfaces: rigid suction plates are difficult to fit curved surfaces, resulting in poor sealing; insufficient load adaptability: for heavy workpieces, a single vacuum source may not be able to provide sufficient suction force; for thin workpieces, excessive suction force may cause damage; sudden pressure loss risk: sudden situations such as vacuum pump failure and pipeline leakage may cause a sudden drop in vacuum degree, lack of redundancy protection mechanism, and potential safety hazards of workpiece falling off.

[0005] In addition, existing anti-falling mechanisms are mostly passive designs that simply rely on the friction of the suction plate lip, which is difficult to effectively fix the workpiece when the vacuum fails, especially in high-speed carrying, vibration environments or scenarios where the center of gravity of the workpiece is offset, lack of active mechanical fixing means, which may cause safety accidents or equipment damage.

[0006] In view of this, the purpose of the present application is to provide a vacuum chuck device to solve the problems existing in the prior art. SUMMARY

[0007] In view of the deficiencies of the prior art, the present application provides a vacuum chuck device to solve the problem of lack of automatic cleaning mechanism in existing devices.

[0008] In order to achieve the above object, the present application is realized by the following technical scheme: A vacuum chuck device, comprising a bottom plate, a suction mechanism is fixedly installed on the upper part of the bottom plate, which is used to provide vacuum air, a cleaning mechanism is arranged on the upper part of the bottom plate, the cleaning mechanism comprises an adjusting assembly, a driving assembly, a cleaning assembly and a blowing assembly, which is used to clean and blow the device, a suction mechanism is fixedly installed on the upper part of the suction mechanism, which is used to adsorb the object, and an anti-falling mechanism is further arranged on the upper part of the suction mechanism, which is used to fix the object when the suction mechanism adsorbs the object.

[0009] Preferably, the suction mechanism comprises a plurality of supporting legs fixedly installed on the upper part of the bottom plate, a plurality of vacuum boxes are fixedly installed on the upper part of the supporting legs, a suction hole one is formed on the upper part of the vacuum box, a vacuum pump is fixedly connected to one end of the vacuum box, a vacuum generator is fixedly connected to one end of the vacuum pump, and an adjusting valve is arranged on the outer wall of the vacuum pump.

[0010] Preferably, the adjusting assembly in the cleaning mechanism comprises two electric sliding rails fixedly installed on the upper part of the bottom plate, a fixed block is fixedly installed on the upper part of the moving seat of the two electric sliding rails, a lifting groove is formed on one side of the two fixed blocks, and a telescopic rod one is fixedly installed at the bottom of the two fixed blocks.

[0011] Preferably, the driving assembly comprises a connecting plate fixedly installed between the output ends of the two telescopic rods one, an electric motor is fixedly installed on the bottom of the connecting plate, and a receiving plate is fixedly connected to the output end of the electric motor.

[0012] Preferably, the cleaning assembly comprises a cleaning brush fixedly installed on the bottom of the receiving plate, a cleaning box is arranged on both sides of the connecting plate, a plurality of spray heads are arranged on the bottom of the two cleaning boxes, and the plurality of spray heads are arranged above the cleaning brush.

[0013] Preferably, the blowing assembly comprises a supporting block fixedly installed on both ends of the bottom of the connecting plate, and a fan is arranged on one side of the two supporting blocks.

[0014] Preferably, the suction mechanism comprises a suction disc fixedly installed on the upper part of the vacuum box, an air suction pipe is arranged on the bottom of the suction disc, the air suction pipe is connected with the suction hole one, a vacuum pressure sensor is arranged on the outer side of the suction disc, a pattern is arranged on the upper part of the suction disc, and a plurality of air suction holes two are formed on the edge of the upper part of the suction disc.

[0015] Preferably, the anti-falling mechanism comprises a plurality of telescopic rods two fixedly installed on the upper part of the vacuum box, a spring is fixedly connected to one side of the output end of the plurality of telescopic rods two, a fixed plate is fixedly connected to one end of the plurality of springs, and an anti-skid pad is arranged on one side of the plurality of fixed plates.

[0016] Preferably, two said electric sliding rails are arranged on both sides of the air extraction mechanism, and a controller is further arranged on the upper portion of the base plate.

[0017] Preferably, the controller is internally provided with an intelligent cooperative control system, which is electrically connected with the vacuum pressure sensor, the air extraction mechanism, the cleaning mechanism and the anti-falling mechanism, and runs a control algorithm based on multi-sensor fusion and predictive maintenance, which comprises the following steps:

[0018] S1: adaptive adsorption control: the controller continuously collects and analyzes the pressure data of the vacuum pressure sensor to establish a pressure-time curve model in the adsorption process; by calculating the pressure change rate in real time, the power of the air extraction mechanism is dynamically adjusted to minimize energy consumption under the premise of ensuring adsorption stability;

[0019] S2: predictive anti-falling: during the adsorption and transfer of the object, the controller continuously monitors the pressure change rate and its acceleration; when the pressure change rate exceeds the preset warning threshold or the acceleration appears an abnormal peak, the system predicts that adsorption failure or falling will occur soon, so that the anti-falling mechanism is driven to clamp and fix the object in advance before the vacuum is completely lost, and the air extraction mechanism is instructed to instantaneously increase to the maximum power to attempt to restore the adsorption;

[0020] S3: state evaluation and intelligent cleaning: the controller records the vacuum establishment time and the vacuum degree after stabilization of each adsorption task; by statistical analysis of the historical data, when the moving average of the vacuum establishment time continuously increases or the average of the vacuum degree continuously decreases and exceeds the preset range, the system determines that there is pollution or wear on the surface of the adsorption disc, and automatically starts the cleaning mechanism during the task interval to perform the preset cleaning and air blowing program on the adsorption disc, and performs self-detection after cleaning to ensure the recovery of adsorption performance.

[0021] The present application provides a vacuum chuck device. Has the following beneficial effects:

[0022] 1、The present application sprays cleaning liquid through the nozzle at the bottom of the cleaning box, rotates the cleaning brush, and blows away residual impurities through the fan of the air blowing assembly, to ensure that the adsorption interface is clean and dry, form a complete cleaning process of spraying cleaning liquid + rotating brush cleaning + air drying, improve the sealing efficiency of the adsorption disc and the object, and effectively ensure the adsorption stability and reliability.

[0023] 2、The present application provides mechanical pressing force on the basis of vacuum adsorption through the combination design of the telescopic rod two, the spring and the fixed plate, the elastic buffering action of the spring can avoid rigid collision damage to the object, and the sawtooth pattern of the anti-skid pad on the inner side of the fixed plate can increase the friction force. When the vacuum system suddenly fails, the mechanism can press the object to improve the overall anti-falling reliability, and significantly enhance the safety of the device under complex working conditions.

[0024] 3、The invention can quickly form a negative pressure environment in the adsorption disc through the series combination of the vacuum pump and the vacuum generator in the air extraction mechanism, and dynamically adjust the vacuum output through the regulating valve. It can not only meet the adsorption needs of heavy workpieces, but also adapt to the grabbing of light and thin objects by reducing the vacuum degree, avoid damaging the objects due to improper adsorption force, significantly improve the adsorption adaptability of the device to objects of different weights and materials, and broaden the application scenarios. At the same time, the vacuum box stabilizes the airflow fluctuation as a gas buffer cavity, effectively prolongs the service life of the vacuum pump, and reduces the equipment maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a left front side view of the invention;

[0026] Figure 2 is a right rear side view of the invention;

[0027] Figure 3 is a schematic view of the air extraction mechanism of the invention;

[0028] Figure 4 is a schematic view of the regulating assembly of the invention;

[0029] Figure 5 is a schematic view of the cleaning assembly and air blowing assembly of the invention;

[0030] Figure 6 is a schematic view of the bottom of the adsorption disc of the invention;

[0031] Figure 7 is a schematic view of the upper part of the air extraction mechanism of the invention;

[0032] Figure 8 is a schematic view of the anti-falling mechanism of the invention.

[0033] 1, bottom plate; 2, air extraction mechanism; 201, support leg; 202, vacuum box; 203, air extraction hole one; 204, vacuum pump; 205, vacuum generator; 206, regulating valve; 3, cleaning mechanism; 301, electric sliding rail; 302, fixed block; 303, lifting groove; 304, telescopic rod one; 305, connecting plate; 306, motor; 307, receiving plate; 308, cleaning brush; 309, cleaning box; 310, spray head; 311, support block; 312, fan; 4, adsorption mechanism; 401, adsorption disc; 402, air extraction pipe; 403, vacuum pressure sensor; 404, texture; 405, air extraction hole two; 5, anti-falling mechanism; 501, telescopic rod two; 502, spring; 503, fixed plate; 504, non-slip pad; 6, controller. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the specification of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0035] Please refer to the drawings of the present application Figure 1 - the drawings of the present application Figure 8 The embodiment of the present application provides a vacuum chuck device, which comprises a bottom plate 1, an air extraction mechanism 2 fixedly installed on the upper portion of the bottom plate 1, which is used to provide vacuum air, a cleaning mechanism 3 arranged on the upper portion of the bottom plate 1, which comprises an adjusting assembly, a driving assembly, a cleaning assembly and a air blowing assembly, and is used to clean and blow the device, an adsorption mechanism 4 fixedly installed on the upper portion of the air extraction mechanism 2, which is used to adsorb the object, and an anti-falling mechanism 5 arranged on the upper portion of the air extraction mechanism 2, which is used to fix the object when the adsorption mechanism 4 adsorbs the object.

[0036] The air extraction mechanism 2 comprises a plurality of supporting legs 201 fixedly installed on the upper portion of the bottom plate 1, a vacuum box 202 fixedly installed on the upper portion of the supporting legs 201, an air extraction hole one 203 formed on the upper portion of the vacuum box 202, a vacuum pump 204 fixedly connected to one end of the vacuum box 202, a vacuum generator 205 fixedly connected to one end of the vacuum pump 204, and an adjusting valve 206 arranged on the outer wall of the vacuum pump 204.

[0037] Specifically, the supporting legs 201 of the air extraction mechanism 2 are evenly distributed on the upper portion of the bottom plate 1, the top of which is connected to the vacuum box 202, the air extraction hole one 203 on the top of the vacuum box 202 is connected to the air extraction pipe 402 of the adsorption mechanism 4, the vacuum pump 204 is fixed to the side of the vacuum box 202, the air inlet thereof is in communication with the inside of the vacuum box 202, the air outlet is connected to the vacuum generator 205, and the adjusting valve 206 is installed on the outer wall of the vacuum pump 204, which controls the vacuum output by adjusting the air intake, and the control signal comes from the controller 6, so as to realize the dynamic adjustment of the vacuum degree.

[0038] The adjusting assembly in the cleaning mechanism 3 comprises two electric sliding rails 301 fixedly installed on the upper portion of the bottom plate 1, a fixed block 302 fixedly installed on the upper portion of the moving seat of each electric sliding rail 301, a lifting groove 303 formed on one side of each fixed block 302, and a telescopic rod one 304 fixedly installed in the inside of each fixed block 302 and at the bottom end thereof.

[0039] Specifically, the two electric sliding rails 301 of the adjusting assembly are fixed in parallel on the upper portion of the base plate 1 and are respectively located on the left and right sides of the air suction mechanism 2. The upper portion of the moving seat of the electric sliding rail 301 is fixedly installed with a fixed block 302, so that the fixed block 302 can move transversely with the moving seat. The two side edges of the connecting plate 305 are embedded in the lifting groove 303 of the fixed block 302, forming a vertical sliding connection. The telescopic rod one 304 is fixed to the bottom of the fixed block 302, and the output end thereof is connected to the bottom of the connecting plate 305, so that the connecting plate 305 is driven to move up and down along the lifting groove 303 through the telescopic action, thereby realizing height adjustment of the cleaning assembly.

[0040] The driving assembly comprises the connecting plate 305 fixedly installed between the output ends of the two telescopic rods one 304, and the motor 306 fixedly installed at the bottom of the connecting plate 305, and the receiving plate 307 fixedly connected to the output end of the motor 306.

[0041] Specifically, the two ends of the connecting plate 305 of the driving assembly are supported by the output ends of the telescopic rod one 304, the motor 306 is fixed to the center of the bottom of the connecting plate 305, and the output shaft thereof penetrates through the connecting plate 305 to form a vertical power transmission. The receiving plate 307 is a circular flat plate, and the bottom surface thereof is fixedly installed with the cleaning brush 308. When the motor 306 rotates, the cleaning brush 308 is driven to rotate at a high speed, thereby realizing brushing of the surface of the adsorption disc 401.

[0042] The cleaning assembly comprises the cleaning brush 308 fixedly installed at the bottom of the receiving plate 307, and the cleaning boxes 309 arranged at the two sides of the connecting plate 305, and a plurality of spray heads 310 arranged at the bottom of each of the two cleaning boxes 309, and the plurality of spray heads 310 are arranged above the cleaning brush 308.

[0043] Specifically, the cleaning brush 308 is fixed to the bottom of the receiving plate 307, and the center of rotation thereof is aligned with the center of the adsorption disc 401. The cleaning boxes 309 are fixed to the two sides of the connecting plate 305 through supports, and the spray heads 310 at the bottom thereof face the rotating area of the cleaning brush 308. When the cleaning brush 308 rotates, the spray heads 310 synchronously spray cleaning liquid, and the liquid is thrown to the surface of the adsorption disc 401 by the rotating bristles, thereby forming a synergistic effect of “spraying and brushing”.

[0044] The air blowing assembly comprises the support blocks 311 fixedly installed at the two ends of the bottom of the connecting plate 305, and the fans 312 arranged at one side of each of the two support blocks 311.

[0045] Specifically, the support blocks 311 are fixed to the two ends of the bottom of the connecting plate 305, and the fans 312 are installed on the inner sides of the vertical arms thereof, and the air outlets of the fans 312 face the surface of the adsorption disc 401. When the cleaning work is completed, the fans 312 are started, and high-speed airflow flows along the surface of the adsorption disc 401, thereby carrying away the residual cleaning liquid and debris.

[0046] The adsorption mechanism 4 comprises an adsorption disc 401 fixedly installed on the upper portion of the vacuum box 202, the bottom of the adsorption disc 401 is provided with a suction pipe 402 connected with the suction hole one 203, the outer side of the adsorption disc 401 is provided with a vacuum pressure sensor 403, the upper portion of the adsorption disc 401 is provided with a texture 404, and a plurality of suction hole two 405 are arranged on the edge of the upper portion of the adsorption disc 401;

[0047] Specifically, the adsorption disc 401 is fixed on the top center of the vacuum box 202, and the suction pipe 402 at the bottom thereof is inserted into the suction hole one 203 of the vacuum box 202, so as to ensure the air tightness of the vacuum environment. The vacuum pressure sensor 403 is installed on the outer side of the adsorption disc 401, which can monitor the vacuum degree in real time and transmit signals to the controller 6. When the texture 404 on the upper portion of the adsorption disc 401 contacts the surface of the workpiece, it can be embedded in the micro concave, and the suction hole two 405 on the edge can accelerate the air exhaust, thereby improving the adsorption efficiency.

[0048] The anti-falling mechanism 5 comprises a plurality of telescopic rods two 501 fixedly installed on the upper portion of the vacuum box 202, one side of the output end of each telescopic rod two 501 is fixedly connected with a spring 502, one end of each spring 502 is fixedly connected with a fixed plate 503, and one side of each fixed plate 503 is provided with a non-slip pad 504.

[0049] Specifically, the telescopic rods two 501 are evenly distributed on the top edge of the vacuum box 202, and one end of the output end of each telescopic rod two 501 is connected with the spring 502, and the other end of the spring 502 is connected with the middle portion of the fixed plate 503, so as to form an elastic connection. The fixed plate 503 is parallel to the surface of the adsorption disc 401, and the inner side is pasted with the non-slip pad 504. When the telescopic rod two 501 is elongated, the spring 502 pushes the fixed plate 503 to move towards the center of the adsorption disc 401, and the non-slip pad 504 contacts the surface of the workpiece. The elastic deformation of the spring 502 can compensate for the slight ups and downs of the surface of the workpiece, so as to ensure the fixing reliability.

[0050] Two electric sliding rails 301 are arranged on both sides of the suction mechanism 2 respectively;

[0051] Specifically, the two electric sliding rails 301 are symmetrically arranged on both sides of the suction mechanism 2, which ensures that the cleaning assembly can be moved to any position above the adsorption disc 401.

[0052] The controller 6 is also placed on the upper portion of the bottom plate 1;

[0053] Specifically, the controller 6 is connected with the electric sliding rail 301, the telescopic rod one 304, the motor 306, the fan 312, the vacuum pump 204, the vacuum generator 205 and the vacuum pressure sensor 403 through cables, so as to form a closed-loop control system.

[0054] Further, according to the controller 6 of the vacuum chuck device and its intelligent collaborative control system, the system is electrically connected with the vacuum pressure sensor 403, the air suction mechanism 2, the cleaning mechanism 3 and the anti-falling mechanism 5, and realizes a precision control based on multi-sensor fusion and predictive maintenance. The algorithm includes the following steps:

[0055] S1: adaptive grasping strategy generation based on vision and force sensing fusion

[0056] A) target perception and feature extraction: before the adsorption action, the 3D vision sensor integrated on the device actively scans the target object to obtain the three-dimensional point cloud data, and the controller 6 extracts the geometric shape, size, surface flatness, presence or absence of holes and the accurate position and attitude of the object on the workbench from the three-dimensional point cloud data;

[0057] Further, in order to realize accurate grasping of any object, the control algorithm first performs an active target perception and feature extraction process. Before the adsorption action starts, the three-dimensional vision sensor integrated on the device will perform a quick scan on the target object, thereby capturing the original three-dimensional point cloud data of the surface. After receiving a large number of spatial coordinate points, the controller will immediately call the built-in scene segmentation algorithm to accurately separate the point cloud representing the target object from the background environment such as the workbench. Then, the system will analyze the separated object point cloud in depth, evaluate the surface flatness and roughness by calculating the local neighborhood characteristics of each point, and identify the accurate contour, key size of the object and whether there are holes or grooves that may cause air leakage by using edge detection and geometric fitting algorithms. Finally, the system outputs a comprehensive feature report about the object, providing a comprehensive and reliable data basis for subsequent grasping planning.

[0058] B) optimal adsorption point planning: based on the extracted features, the algorithm automatically calculates the centroid and geometric center of the object, and plans the optimal adsorption center point or adsorption area in combination with the preset stability model to avoid unbalanced torque. For irregular or hole objects, the algorithm will automatically plan the adsorption point to avoid the hole or select multiple adsorption points;

[0059] Further, after fully mastering the three-dimensional features of the object, the algorithm will enter the core planning stage of the grasping strategy, which aims to calculate the optimal adsorption point that can ensure adsorption stability and sealing reliability. The system first determines the geometric center (centroid) of the object by calculating the average position of all space points based on the three-dimensional point cloud model of the object. The centroid is the key to ensuring the balance of the object's attitude after grasping.

[0060] The calculation formula is:

[0061] ;​

[0062] wherein is the three-dimensional coordinate vector of the th point. Subsequently, the algorithm will search on the surface of the object based on this centroid as a reference, and screen the best adsorption position through a weighted evaluation function. This function will give high scores to areas with flat, continuous and far from the edge surface, and low scores to areas close to the hole, with steps or large curvature changes, so as to ensure that the adsorption disc can be tightly fitted to the surface of the object with the largest effective area, and fundamentally avoid adsorption failure caused by unbalanced torque or poor initial sealing.

[0063] C) Dynamic preset of adsorption parameters: the controller 6 matches or generates initial adsorption parameters from a learnable object strategy database according to the identified object characteristics. For a heavy and solid steel plate, a high-power, fast-pumping strategy is preset; for a light and fragile glass, a low-power, progressive pumping flexible strategy is preset.

[0064] Further, the control algorithm overturns the traditional passive mode of adjusting after contact, and realizes active parameter planning before adsorption. The decision-making process can be accurately modeled as a mapping function from the object feature space to the adsorption strategy space . The controller takes the object feature vectors extracted in the previous steps (such as estimated weight , volume , surface flatness , etc.) as input, and directly generates a set of optimal initial adsorption parameters through the function. This mapping relationship can be represented as:

[0065] ;

[0066] wherein the output strategy vector includes the target vacuum pressure , the initial pumping rate of the vacuum pump , and the time slope of the pressure building process . For example, when identifying a heavy and surface-dense steel plate as the target, the function will output a high-power, fast-response parameter combination; while when identifying a light and fragile glass sheet as the target, a low-power, slow-start flexible adsorption strategy will be matched, realizing fine adaptive adsorption of different workpieces.

[0067] S2: Predictive anti-falling

[0068] During the process of object adsorption and transfer, the controller 6 continuously monitors the rate of pressure change and its acceleration; when the monitored rate of pressure change exceeds the preset warning threshold or the acceleration appears an abnormal spike, the system predicts that adsorption failure or slippage will occur soon, so that the anti-falling mechanism 5 is driven in advance to clamp and fix the object before the vacuum is completely lost, and at the same time the air suction mechanism 2 is instructed to instantaneously increase to the maximum power to attempt to restore adsorption;

[0069] Further, during the process of object adsorption and transfer, the system activates its core safety mechanism, the predictive anti-falling function. During this period, the controller continuously monitors the real-time data of the vacuum pressure sensor at a very high frequency , and continuously calculates the rate of change of pressure (first derivative) and the acceleration of change (second derivative). The system has a clear risk judgment logic preset internally, and as soon as the monitored pressure change meets any of the following trigger conditions, it will immediately determine that adsorption is about to fail:

[0070] ;

[0071] In this condition, is a leakage warning threshold for slow and continuous pressure drop, and is an impact warning threshold for instantaneous and violent pressure fluctuations caused by external collision or vibration. Once the condition is triggered, the system does not need to wait for the vacuum to be completely lost, but drives the anti-falling mechanism to physically clamp within milliseconds, and at the same time instructs the air suction mechanism to run at maximum power, to nip the potential falling accident in the bud.

[0072] S3: Deep learning-based device health status diagnosis and life prediction

[0073] A) Multidimensional state data collection: The controller 6 not only records the pressure and vacuum establishment time, but also synchronously collects and records data such as the current of the vacuum pump 204, the vibration frequency and the operating temperature of the motor 306, forming a high-dimensional time series state vector of device operation;

[0074] Further, in order to realize the deep insight from simple task execution to the health status of itself, the controller will build a comprehensive multidimensional device state profile. At each task execution, it will not only record the task performance data, but also synchronously collect a series of underlying operation data reflecting the health status of the core moving parts. These data are integrated into a high-dimensional time series state vector , which is like an electronic medical record of the device, providing a rich information base for subsequent accurate diagnosis. The composition of the state vector can be represented as:

[0075] ;

[0076] wherein, is the real-time vacuum pressure, is the vacuum build-up time, is the real-time working current of the vacuum pump motor, is the key frequency feature extracted from the vibration signal, and is the operating temperature of the key motor.

[0077] B) Intelligent diagnosis and root cause analysis: When the vacuum build-up time is prolonged or the vacuum level is decreased, the system no longer simply attributes it to chuck contamination, but inputs the current state vector into a pre-trained neural network. This model can decouple faults and accurately distinguish whether the performance degradation is caused by chuck surface contamination, chuck aging, vacuum pump efficiency decline, or pipeline micro leakage.

[0078] Further, when the controller finds performance degradation trends such as prolonged vacuum build-up time or decreased stable vacuum level through long-term data comparison, it inputs the recently collected state vector sequence containing multi-dimensional data into a deep learning model pre-trained with a large amount of normal and fault data. The core capability of this model is complex pattern recognition and fault decoupling. It can learn and understand the unique fingerprints of different faults in multi-dimensional data. For example, it knows that chuck aging usually shows a slow decline in performance data while the motor data is normal, while vacuum pump efficiency decline may be accompanied by abnormal increase in current and enhancement of specific frequency vibration signal. In this way, the model can accurately analyze the root cause of performance degradation, whether it is chuck surface contamination, chuck material aging, vacuum pump efficiency decline, or pipeline micro leakage.

[0079] C) Intelligent maintenance decision and life prediction: According to the diagnosis results, the system triggers corresponding actions:

[0080] If it is determined to be surface contamination, the original intelligent cleaning program is executed;

[0081] If it is determined to be chuck aging, the system will issue a replacement instruction and predict the remaining safe service life according to the aging trend;

[0082] If it is determined to be pump or pipeline problem, specific inspection alarms are sent to maintenance personnel;

[0083] Further, after the neural network model gives an accurate fault diagnosis report, the system will immediately start a set of intelligent maintenance decision program matching the diagnosis result. If the root cause is determined to be the surface contamination of the suction cup, the system will automatically trigger the cleaning program. If it is a pump or pipeline problem, a specific inspection alarm will be sent to the maintenance personnel. For progressive wear and tear problems such as suction cup aging, the system will activate its Remaining Useful Life (RUL) prediction function. This function continuously tracks a health index that quantifies the degree of aging , and uses an embedded degradation model to predict the remaining time to reach the pre-set failure threshold . The prediction logic can be abstractly represented as a function

[0084] ;

[0085] This function shows that the predicted value of the remaining useful life is based on the current aging state , the rate of its deterioration (the first derivative , and the final failure standard .

[0086] Working principle: The suction mechanism 2 generates vacuum power through the series combination of the vacuum pump 204 and the vacuum generator 205. The support legs 201 erect the vacuum box 202 above the bottom plate 1. After the vacuum pump 204 is started, it extracts air from the vacuum box 202, which is conducted to the adsorption disc 401 through the suction hole one 203 and the suction pipe 402, forming a negative pressure environment inside it. The vacuum generator 205 uses the Venturi effect of compressed air to accelerate suction, and the regulating valve 206 is used to dynamically adjust the vacuum output: the vacuum box 202 acts as a gas buffer cavity, which can stabilize airflow fluctuations and prolong the service life of the vacuum pump 204.

[0087] The cleaning mechanism 3 realizes the automatic cleaning of the adsorption disc 401 through the linkage of the adjusting assembly, the driving assembly, the cleaning assembly, and the air blowing assembly. Two electric sliding rails 301 are symmetrically distributed on both sides of the suction mechanism 2. The moving seat drives the fixed block 302 to move laterally, so that the cleaning assembly is aligned with the adsorption disc 401. The telescopic rod one 304 in the fixed block 302 can drive the connecting plate 305 to move up and down along the lifting groove 303, adjusting the distance between the cleaning brush 308 and the adsorption disc 401. The motor 306 drives the receiving plate 307 and the cleaning brush 308 to rotate, cooperating with the cleaning liquid such as alcohol or neutral detergent sprayed by the nozzle 310 at the bottom of the cleaning box 309, to realize the dual cleaning of "rotary brush washing + liquid penetration". Then the fan 312 blows away the remaining liquid and debris, ensuring that the adsorption interface is dry and clean.

[0088] The adsorption mechanism 4 takes the adsorption disc 401 as the core. The suction pipe 402 at the bottom of the adsorption disc 401 is communicated with the vacuum box 202. The plurality of suction holes 405 at the upper edge of the adsorption disc 401 enlarge the suction area. The surface texture 404 of the adsorption disc 401 can be embedded into the micro concave pits on the surface of the object, and at the same time, the friction force is increased. The vacuum pressure sensor 403 monitors the vacuum degree in the adsorption disc 401 in real time.

[0089] When the adsorption disc 401 completes the object grabbing, the telescopic rod 2 is elongated, and the output end pushes the fixed plate 503 to move towards the object through the spring 502. The spring 502 can generate a buffering force when contacting the object, so as to avoid rigid collision damage to the surface of the object. The anti-skid pad 504 on the inner side of the fixed plate 503 can generate additional friction force when contacting the object, and the anti-skid pad 504 prevents the object from falling off when being fixed.

[0090] In summary, a vacuum chuck device constructs a complete automatic grabbing system through the vacuum generation of the suction mechanism 2, the intelligent cleaning of the cleaning mechanism 3, the precise sealing of the adsorption mechanism 4 and the mechanical redundancy of the anti-falling mechanism 5, and improves the adaptability and reliability under complex working conditions, thereby providing an efficient and safe clamp solution for the industrial automation field.

[0091] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.​​​

Claims

1. A vacuum chuck apparatus, characterized by, The utility model provides a kind of vacuum cleaner, including bottom plate (1), the bottom plate (1) upper part fixed mounting has suction mechanism (2), it is used to provide vacuum air, the bottom plate (1) upper part is provided with cleaning mechanism (3), the cleaning mechanism (3) includes adjusting assembly, drive assembly, cleaning assembly and air blowing assembly, it is used to clean the blowing of device, the suction mechanism (2) upper part fixed mounting has adsorption mechanism (4), it is used to adsorb article, the suction mechanism (2) upper part is also provided with anti-falling mechanism (5), it is used to fix article when adsorption mechanism (4) adsorbs article.

2. A vacuum cup device according to claim 1, characterized in that The suction mechanism (2) includes a plurality of support legs (201) fixedly installed on the upper part of the bottom plate (1), a plurality of the support legs (201) are fixedly installed with a vacuum box (202) on the upper part, the vacuum box (202) is provided with a suction hole (203) on the upper part, one end of the vacuum box (202) is fixedly connected with a vacuum pump (204), one end of the vacuum pump (204) is fixedly connected with a vacuum generator (205), and the outer wall of the vacuum pump (204) is provided with an adjusting valve (206).

3. A vacuum cup device according to claim 1, characterized in that The adjusting assembly in the cleaning mechanism (3) includes two electric sliding rails (301) fixedly installed on the upper part of the bottom plate (1), two fixed blocks (302) are fixedly installed on the upper part of the moving seat of the two electric sliding rails (301), two lifting grooves (303) are formed on one side of the two fixed blocks (302), and two telescopic rods (304) are fixedly installed inside and at the bottom of the two fixed blocks (302).

4. A vacuum chuck apparatus as claimed in claim 1, wherein The drive assembly includes a connecting plate (305) fixedly installed between the output ends of the two telescopic rods (304), the connecting plate (305) is fixedly installed with a motor (306) at the bottom, and the output end of the motor (306) is fixedly connected with a receiving plate (307).

5. A vacuum chuck apparatus as claimed in claim 4, wherein The cleaning assembly includes a cleaning brush (308) fixedly installed at the bottom of the receiving plate (307), and the connecting plate (305) is provided with a cleaning box (309) on both sides, a plurality of nozzles (310) are arranged on the bottom of the two cleaning boxes (309), and the plurality of nozzles (310) are arranged above the cleaning brush (308).

6. A vacuum cup device according to claim 1, characterized in that The air blowing assembly includes support blocks (311) fixedly installed at both ends of the bottom of the connecting plate (305), and the support blocks (311) are provided with fans (312) on one side.

7. A vacuum cup device according to claim 1, characterized in that The adsorption mechanism (4) includes an adsorption disc (401) fixedly installed on the upper part of the vacuum box (202), the adsorption disc (401) is provided with a suction pipe (402) at the bottom, the suction pipe (402) is connected with the suction hole (203), the adsorption disc (401) is provided with a vacuum pressure sensor (403) on the outer side, the adsorption disc (401) is provided with a texture (404) on the upper part, and a plurality of suction holes (405) are formed on the upper part edge of the adsorption disc (401).

8. A vacuum cup device according to claim 1, characterized in that The anti-falling mechanism (5) comprises a plurality of telescopic rods two (501) fixedly installed on the upper part of the vacuum box (202), the output end of each telescopic rod two (501) is fixedly connected with a spring (502), one end of each spring (502) is fixedly connected with a fixed plate (503), and the side of each fixed plate (503) is provided with a non-slip pad (504).

9. A vacuum cup device according to claim 3, characterized in that Two electric sliding rails (301) are arranged on both sides of the air extraction mechanism (2), and a controller (6) is placed on the upper part of the bottom plate (1).

10. A vacuum cup device according to claim 9, characterized in that The controller (6) is internally provided with an intelligent cooperative control system, the intelligent cooperative control system is electrically connected with the vacuum pressure sensor (403), the air extraction mechanism (2), the cleaning mechanism (3) and the anti-falling mechanism (5), and the intelligent cooperative control system runs a control algorithm based on multi-sensor fusion and predictive maintenance, and the control algorithm comprises the following steps: S1: adaptive grasping strategy generation based on vision and force sensing fusion A) target perception and feature extraction: before the adsorption action, the 3D vision sensor integrated on the device is used to actively scan the target object, and the three-dimensional point cloud data of the object is acquired, and the controller (6) extracts the geometric shape, size, surface flatness, presence or absence of holes and the accurate position and attitude of the object on the workbench from the three-dimensional point cloud data; B) optimal adsorption point planning: based on the extracted features, the algorithm automatically calculates the centroid and centroid of the object, and plans the optimal adsorption center point or adsorption area in combination with a preset stability model, so as to avoid unbalanced torque, and for irregular or holed objects, the algorithm will automatically plan the adsorption point to avoid the hole or select multiple adsorption points; C) dynamic preset of adsorption parameters: the controller (6) matches or generates initial adsorption parameters from a learnable object strategy database according to the identified object characteristics, and for the identified heavy and solid steel plate, a high-power and fast air extraction strategy is preset; for light and fragile glass, a low-power and gradual air extraction flexible strategy is preset; S2: predictive anti-falling During the adsorption and transfer of the object, the controller (6) continuously monitors the pressure change rate and its acceleration; when it is monitored that the pressure change rate exceeds the preset warning threshold or the acceleration appears an abnormal peak, the system predicts that adsorption failure or slipping will occur soon, so that the anti-falling mechanism (5) is driven in advance to clamp and fix the object before the vacuum is completely lost, and the air extraction mechanism (2) is instructed to instantaneously increase to the maximum power to attempt to restore the adsorption; S3: device health state diagnosis and life prediction based on deep learning A) multi-dimensional state data acquisition: the controller (6) not only records the pressure and vacuum establishment time, but also synchronously acquires and records the current of the vacuum pump (204), the vibration frequency and the operating temperature of the motor (306), and forms a high-dimensional time sequence state vector of the device operation; B) Intelligent diagnosis and root cause analysis: When the vacuum build-up time is prolonged or the vacuum level is decreased, the system no longer simply attributes it to chuck contamination, but inputs the current state vector into a pre-trained neural network. This model can decouple faults and accurately distinguish whether the performance decline is caused by chuck surface contamination, chuck aging, vacuum pump efficiency decline, or small pipeline leakage; C) Intelligent maintenance decision and life prediction: According to the diagnosis result, the system triggers the corresponding action: If it is determined to be surface contamination, the original intelligent cleaning program is executed; If it is determined to be chuck aging, the system will issue a replacement instruction for the chuck and predict its remaining safe service life according to the aging trend; If it is determined to be pump or pipeline problem, specific inspection alarms are sent to maintenance personnel.

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