Vacuum chuck device

Abstract

The application relates to the technical field of mechanical clamps, and discloses a vacuum chuck device, which comprises a bottom plate, an air extraction mechanism fixedly installed at the upper portion of the bottom plate and used for providing vacuum air, a cleaning mechanism arranged at the upper portion of the bottom plate and used for cleaning and blowing the device, an adjusting assembly, a driving assembly, a cleaning assembly and a gas blowing assembly, an adsorption mechanism fixedly installed at the upper portion of the air extraction mechanism and used for adsorbing articles, and an anti-falling mechanism arranged at the upper portion of the air extraction mechanism and used for fixing the articles when the adsorption mechanism adsorbs the articles. The cleaning tank bottom nozzle cooperates with the rotating cleaning brush, and the fan of the gas blowing assembly blows away the residual impurities, so that the adsorption interface is clean and dry, a complete cleaning process of'spraying cleaning liquid + rotating brush cleaning + air flow drying' is formed, the sealing efficiency of the adsorption disc and the articles is improved, and the adsorption stability and reliability are effectively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of mechanical clamping technology, specifically a vacuum suction cup device. Background Technology

[0002] In the field of industrial automation, vacuum suction cups are a commonly used mechanical clamp, widely applied in scenarios such as gripping, handling, and assembling items. However, existing vacuum suction cup devices still face some problems that urgently need to be solved in practical applications.

[0003] On the one hand, during long-term use, dust, oil and other impurities easily adhere to the surface of the traditional vacuum suction cup device, resulting in poor sealing of the suction interface, a decrease in vacuum degree or even suction failure. In dusty environments such as electronics manufacturing and metal processing, the accumulation of impurities will significantly reduce the reliability of suction, requiring frequent manual cleaning and affecting production efficiency. However, existing devices lack automated 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 diverse materials, traditional vacuum suction cups rely solely on single vacuum negative pressure adsorption, which still has shortcomings. Poor adaptability to curved surfaces: rigid suction cups 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 adsorption force; for thin workpieces, excessive adsorption force can easily cause damage; risk of sudden pressure loss: sudden situations such as vacuum pump failure and pipeline leakage may cause a sudden drop in vacuum level, and the lack of redundant protection mechanisms poses a safety hazard of workpiece falling off.

[0005] In addition, most existing anti-detachment mechanisms are passive designs that rely solely on the friction of the suction cup lips. When the vacuum fails, they are difficult to effectively fix the workpiece. Especially in high-speed handling, vibration environments, or workpiece center of gravity shift scenarios, the lack of active mechanical fixing means may lead to safety accidents or equipment damage.

[0006] Therefore, the purpose of this invention is to provide a vacuum suction cup device to overcome the shortcomings of the prior art. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a vacuum suction cup device that solves the problem of the lack of automated cleaning mechanisms in existing devices.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a vacuum suction cup device, comprising a base plate, an air extraction mechanism fixedly installed on the upper part of the base plate for providing vacuum air, a cleaning mechanism provided on the upper part of the base plate, the cleaning mechanism comprising an adjustment component, a drive component, a cleaning component and an air blowing component for cleaning and blowing the device, an adsorption mechanism fixedly installed on the upper part of the air extraction mechanism for adsorbing items, and an anti-drop mechanism provided on the upper part of the air extraction mechanism for fixing the items when the adsorption mechanism adsorbs the items.

[0009] Preferably, the air extraction mechanism includes multiple support legs fixedly installed on the upper part of the base plate, a vacuum box fixedly installed on the upper part of the multiple support legs, an air extraction hole opened on the upper part of the vacuum box, a vacuum pump fixedly connected to one end of the vacuum box, a vacuum generator fixedly connected to one end of the vacuum pump, and an adjustment valve provided on the outer wall of the vacuum pump.

[0010] Preferably, the adjustment component in the cleaning mechanism includes two electric slide rails fixedly installed on the upper part of the base plate, and a fixing block is fixedly installed on the upper part of each of the two electric slide rails. A lifting groove is opened on one side of each of the two fixing blocks, and a telescopic rod is fixedly installed at the bottom of each of the two fixing blocks.

[0011] Preferably, the drive assembly includes a connecting plate that is fixedly installed between the output ends of the two telescopic rods, a motor that is fixedly installed at the bottom of the connecting plate, and a receiving plate that is fixedly connected to the output end of the motor.

[0012] Preferably, the cleaning assembly includes a cleaning brush fixedly installed at the bottom of the receiving plate, and cleaning boxes are provided on both sides of the connecting plate. Multiple nozzles are provided at the bottom of each of the two cleaning boxes, and the multiple nozzles are all positioned above the cleaning brush.

[0013] Preferably, the air blowing assembly includes support blocks that are fixedly installed at both ends of the bottom of the connecting plate, and a fan is provided on one side of each of the two support blocks.

[0014] Preferably, the adsorption mechanism includes an adsorption plate fixedly installed on the upper part of the vacuum box, an air extraction pipe is provided at the bottom of the adsorption plate and connected to an air extraction hole, a vacuum pressure sensor is provided on the outside of the adsorption plate, the upper part of the adsorption plate is textured, and multiple air extraction holes are provided on the upper edge of the adsorption plate.

[0015] Preferably, the anti-fall mechanism includes multiple telescopic rods two fixedly installed on the upper part of the vacuum box, each of the multiple telescopic rods two having a spring fixedly connected to one side of its output end, each of the multiple springs having a fixing plate fixedly connected to one end, and each of the multiple fixing plates having an anti-slip pad on one side.

[0016] Preferably, the two electric slide rails are respectively arranged on both sides of the air extraction mechanism, and a controller is also placed on the upper part of the base plate.

[0017] Preferably, the controller has a built-in intelligent collaborative control system, which is electrically connected to the vacuum pressure sensor, the pumping mechanism, the cleaning mechanism, and the anti-detachment mechanism. This intelligent collaborative control system runs a control algorithm based on multi-sensor fusion and predictive maintenance, which includes the following steps:

[0018] S1: Adaptive Adsorption Control: The controller continuously collects and analyzes the pressure data from the vacuum pressure sensor to establish a pressure-time curve model during the adsorption process; by calculating the pressure change rate in real time, it dynamically adjusts the power of the pumping mechanism to minimize energy consumption while ensuring stable adsorption.

[0019] S2: Predictive anti-drop: During the adsorption and transfer of items, the controller continuously monitors the pressure change rate and its acceleration; when the pressure change rate exceeds the preset warning threshold or an abnormal peak appears in the acceleration, the system predicts that adsorption failure or slippage is about to occur, so that before the vacuum is completely lost, the anti-drop mechanism is driven to clamp and fix the items, and at the same time, the pumping mechanism is instructed to instantly increase to the maximum power to try to restore adsorption.

[0020] S3: Status Assessment and Intelligent Cleaning: The controller records the vacuum establishment time and the vacuum degree after stabilization for each adsorption task; by statistically analyzing historical data, when it is found that the moving average of the vacuum establishment time continues to increase or the average vacuum degree continues to decrease and exceeds the preset range, the system determines that there is contamination or wear on the surface of the adsorption plate, automatically starts the cleaning mechanism during the task interval, performs the preset cleaning and air blowing program on the adsorption plate, and performs self-testing after cleaning to ensure the restoration of adsorption performance.

[0021] This invention provides a vacuum suction cup device. It has the following beneficial effects:

[0022] 1. This invention uses a spray nozzle at the bottom of the cleaning box in conjunction with a rotating cleaning brush, and a fan in the air blowing component to blow away residual impurities, ensuring that the adsorption interface is clean and dry. This forms a complete cleaning process of spraying cleaning liquid + rotating brushing + airflow drying, which improves the sealing efficiency between the adsorption plate and the item, and effectively ensures the stability and reliability of adsorption.

[0023] 2. This invention, through the combined design of the telescopic rod, spring, and fixed plate, provides mechanical clamping force based on vacuum adsorption. The elastic buffering effect of the spring can prevent rigid collisions from damaging the items, while the serrated texture of the anti-slip pad on the inner side of the fixed plate can increase friction. When the vacuum system suddenly fails, this mechanism can clamp the items, improving the overall reliability against falling off and significantly enhancing the safety of the device under complex working conditions.

[0024] 3. This invention, through the series combination of a vacuum pump and a vacuum generator in the suction mechanism, can quickly create a negative pressure environment within the adsorption plate. Combined with a regulating valve to dynamically adjust the vacuum output, it can meet the adsorption needs of heavy workpieces while also adapting to the gripping of thin items by reducing the vacuum level. This avoids damage to items caused by improper adsorption force, significantly improving the device's adaptability to adsorbing items of different weights and materials, and broadening its application scenarios. Simultaneously, the vacuum chamber, acting as a gas buffer cavity, stabilizes airflow fluctuations, effectively extending the service life of the vacuum pump and reducing equipment maintenance costs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the left front side of the present invention;

[0026] Figure 2 This is a schematic diagram of the right rear side of the present invention;

[0027] Figure 3 This is a schematic diagram of the air extraction mechanism of the present invention;

[0028] Figure 4 This is a schematic diagram of the adjustment component of the present invention;

[0029] Figure 5 This is a schematic diagram of the cleaning component and the air blowing component of the present invention;

[0030] Figure 6 This is a schematic diagram of the bottom of the adsorption plate of the present invention;

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

[0032] Figure 8 This is a schematic diagram of the anti-detachment mechanism of the present invention.

[0033] The components include: 1. Base plate; 2. Vacuum mechanism; 201. Support leg; 202. Vacuum box; 203. Vacuum port one; 204. Vacuum pump; 205. Vacuum generator; 206. Adjusting valve; 3. Cleaning mechanism; 301. Electric slide rail; 302. Fixing block; 303. Lifting groove; 304. Telescopic rod one; 305. Connecting plate; 306. Motor; 307. Support plate; 308. Cleaning brush; 309. Cleaning box; 310. Nozzle; 311. Support block; 312. Fan; 4. Adsorption mechanism; 401. Adsorption plate; 402. Vacuum pipe; 403. Vacuum pressure sensor; 404. Texture; 405. Vacuum port two; 5. Anti-fall mechanism; 501. Telescopic rod two; 502. Spring; 503. Fixing plate; 504. Anti-slip mat; 6. Controller. Detailed Implementation

[0034] The technical solutions in 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see the appendix Figure 1 -Appendix Figure 8 This invention provides a vacuum suction cup device, including a base plate 1. An air extraction mechanism 2 is fixedly installed on the upper part of the base plate 1 for providing vacuum air. A cleaning mechanism 3 is provided on the upper part of the base plate 1. The cleaning mechanism 3 includes an adjustment component, a drive component, a cleaning component, and an air blowing component for cleaning and blowing the device. An adsorption mechanism 4 is fixedly installed on the upper part of the air extraction mechanism 2 for adsorbing items. An anti-drop mechanism 5 is also provided on the upper part of the air extraction mechanism 2 for fixing the items when the adsorption mechanism 4 adsorbs the items.

[0036] The vacuum mechanism 2 includes multiple support legs 201 fixedly installed on the upper part of the base plate 1. A vacuum box 202 is fixedly installed on the upper part of the multiple support legs 201. A vacuum hole 203 is opened on the upper part of the vacuum box 202. A vacuum pump 204 is fixedly connected to one end of the vacuum box 202. A vacuum generator 205 is fixedly connected to one end of the vacuum pump 204. A regulating valve 206 is provided on the outer wall of the vacuum pump 204.

[0037] Specifically, the support legs 201 of the suction mechanism 2 are evenly distributed on the upper part of the base plate 1, and the top of the suction mechanism 2 is connected to the vacuum box 202. The suction port 203 on the top of the vacuum box 202 is connected to the suction pipe 402 of the adsorption mechanism 4. The vacuum pump 204 is fixed on the side of the vacuum box 202. Its air inlet is connected to the inside of the vacuum box 202, and its air outlet is connected to the vacuum generator 205. The regulating valve 206 is installed on the outer wall of the vacuum pump 204. The vacuum output is controlled by adjusting the air intake. Its control signal comes from the controller 6 to realize the dynamic adjustment of the vacuum degree.

[0038] The adjustment components in the cleaning mechanism 3 include two electric slide rails 301 fixedly installed on the upper part of the base plate 1. Each of the two electric slide rails 301 has a fixed block 302 fixedly installed on the upper part of the movable seat. Each of the two fixed blocks 302 has a lifting groove 303 on one side. Each of the two fixed blocks 302 has a telescopic rod 304 fixedly installed at the bottom inside the two fixed blocks 302.

[0039] Specifically, two electric slide rails 301 of the adjustment component are fixed parallel to each other on the upper part of the base plate 1, and are located on the left and right sides of the suction mechanism 2, respectively. A fixing block 302 is fixedly installed on the upper part of the movable seat of the electric slide rail 301, so that the fixing block 302 can move laterally with the movable seat. The lifting groove 303 of the fixing block 302 is embedded in the two side edges of the connecting plate 305, forming a vertical sliding connection. The telescopic rod 304 is fixed to the bottom of the fixing block 302, and its output end is connected to the bottom of the connecting plate 305. Through the telescopic action, the connecting plate 305 is driven to move up and down along the lifting groove 303, thereby realizing the height adjustment of the cleaning component.

[0040] The drive assembly includes a connecting plate 305 that is fixedly installed between the output ends of the two telescopic rods 304. A motor 306 is fixedly installed at the bottom of the connecting plate 305, and a receiving plate 307 is fixedly connected to the output end of the motor 306.

[0041] Specifically, the connecting plate 305 of the drive assembly is supported at both ends by the output ends of the telescopic rod 304. The motor 306 is fixed to the bottom center of the connecting plate 305, and its output shaft passes through the connecting plate 305 to form a vertical power transmission. The receiving plate 307 is a circular flat plate with a cleaning brush 308 fixed on its bottom surface. When the motor 306 rotates, it drives the cleaning brush 308 to rotate at high speed, thereby cleaning the surface of the adsorption plate 401.

[0042] The cleaning assembly includes a cleaning brush 308 fixedly installed at the bottom of the receiving plate 307, and cleaning boxes 309 are provided on both sides of the connecting plate 305. Multiple nozzles 310 are provided at the bottom of the two cleaning boxes 309, and the multiple nozzles 310 are all located above the cleaning brush 308.

[0043] Specifically, the cleaning brush 308 is fixed to the bottom of the receiving plate 307, and its rotation center is aligned with the center of the adsorption plate 401. The cleaning box 309 is fixed to both sides of the connecting plate 305 by a bracket, and the nozzle 310 at its bottom faces the rotation area of ​​the cleaning brush 308. When the cleaning brush 308 rotates, the nozzle 310 sprays cleaning liquid simultaneously. The liquid is thrown onto the surface of the adsorption plate 401 by the rotating bristles, forming a synergistic effect of "spraying-brushing".

[0044] The air blowing assembly includes support blocks 311 that are fixedly installed at both ends of the bottom of the connecting plate 305, and a fan 312 is provided on one side of each of the two support blocks 311.

[0045] Specifically, the support block 311 is fixed to both ends of the bottom of the connecting plate 305, and the fan 312 is installed on the inner side of its vertical arm. The air outlet of the fan 312 faces the surface of the adsorption plate 401. When the cleaning operation is completed, the fan 312 is started, and the high-speed airflow flows along the surface of the adsorption plate 401, carrying away the residual cleaning liquid and debris.

[0046] The adsorption mechanism 4 includes an adsorption plate 401 fixedly installed on the upper part of the vacuum box 202. A suction pipe 402 is provided at the bottom of the adsorption plate 401, and the suction pipe 402 is connected to a suction hole 203. A vacuum pressure sensor 403 is provided on the outside of the adsorption plate 401. A texture 404 is provided on the upper part of the adsorption plate 401. Multiple suction holes 405 are opened on the upper edge of the adsorption plate 401.

[0047] Specifically, the adsorption plate 401 is fixed to the top center of the vacuum chamber 202, and its bottom suction pipe 402 is inserted into the suction port 203 of the vacuum chamber 202 to ensure the airtightness of the vacuum environment. A vacuum pressure sensor 403 is installed on the outside of the adsorption plate 401 to monitor the vacuum level in real time and transmit the signal to the controller 6. When the texture 404 on the upper part of the adsorption plate 401 contacts the workpiece surface, it can embed micro-pits, which, together with the suction port 405 on the edge, accelerates air expulsion and improves adsorption efficiency.

[0048] The anti-drop mechanism 5 includes multiple telescopic rods 501 fixedly installed on the upper part of the vacuum box 202. Each of the multiple telescopic rods 501 has a spring 502 fixedly connected to one side of its output end. Each of the multiple springs 502 has a fixing plate 503 fixedly connected to one end. Each of the multiple fixing plates 503 has an anti-slip pad 504 on one side.

[0049] Specifically, the telescopic rods 501 are evenly distributed along the top edge of the vacuum chamber 202. One end of the telescopic rod is connected to one end of the spring 502, and the other end of the spring 502 is connected to the middle of the fixing plate 503, forming an elastic connection. The fixing plate 503 is parallel to the surface of the adsorption disk 401, and an anti-slip pad 504 is attached to its inner side. When the telescopic rods 501 extend, the spring 502 pushes the fixing plate 503 towards the center of the adsorption disk 401, allowing it to contact the workpiece surface through the anti-slip pad 504. The elastic deformation of the spring 502 compensates for slight undulations on the workpiece surface, ensuring reliable fixation.

[0050] Two electric slide rails 301 are respectively installed on both sides of the air extraction mechanism 2;

[0051] Specifically, the two electric slide rails 301 are symmetrically arranged with the air extraction mechanism 2, which ensures that the cleaning component can be moved to any position above the adsorption plate 401.

[0052] A controller 6 is also placed on the upper part of the base plate 1;

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

[0054] Furthermore, based on the controller 6 and its intelligent collaborative control system of the vacuum suction cup device, this system achieves a precision control based on multi-sensor fusion and predictive maintenance by electrically connecting the vacuum pressure sensor 403, the pumping mechanism 2, the cleaning mechanism 3, and the anti-detachment mechanism 5. The algorithm includes the following steps:

[0055] S1: Adaptive grasping strategy generation based on visual and force fusion

[0056] A) Target perception and feature extraction: Before the adsorption action, the target object is actively scanned by a 3D vision sensor integrated on the device to obtain its three-dimensional point cloud data. The controller 6 then extracts the object's geometry, size, surface flatness, presence or absence of holes, as well as its precise position and posture on the worktable.

[0057] Furthermore, to achieve precise grasping of any object, the control algorithm first executes an active target perception and feature extraction process. Before the adsorption action begins, a 3D vision sensor integrated into the device performs a rapid scan of the target object, capturing its raw 3D point cloud data. Upon receiving a massive amount of spatial coordinates, the controller immediately invokes a built-in scene segmentation algorithm to precisely separate the point cloud representing the target object from the background environment, such as the workbench. Next, the system performs in-depth analysis of the separated point cloud, evaluating surface smoothness and roughness by calculating the local neighborhood characteristics of each point, and using edge detection and geometric fitting algorithms to identify the object's precise contours, key dimensions, and the presence of holes or grooves that could cause leaks. Finally, the system outputs a comprehensive feature report on the object, providing a comprehensive and reliable data foundation for subsequent grasping planning.

[0058] B) Optimal Adsorption Point Planning: Based on the extracted features, the algorithm automatically calculates the centroid and centroid of the item, and combines them with a preset stability model to plan the optimal adsorption center point or adsorption area to avoid unbalanced torque. For irregular items or items with holes, the algorithm will automatically plan adsorption points to avoid holes or select multiple adsorption points.

[0059] Furthermore, after fully understanding the three-dimensional features of the object, the algorithm will enter the core planning stage of the grasping strategy, the goal of which is to calculate the optimal adsorption point that simultaneously ensures adsorption stability and sealing reliability. The system will first calculate all... Its geometric center (centroid) is determined by the average position of a number of spatial points. The centroid is crucial for ensuring the object's balance after grasping. Its design...

[0060] The formula is:

[0061] ;

[0062] in It is the first The algorithm then uses the three-dimensional coordinate vector of each point as a reference to search the surface of the object and selects the optimal adsorption location using a weighted evaluation function. This function assigns high scores to areas that are flat, continuous, and far from edges, while assigning low scores to areas near holes, with steps, or with significant curvature changes. This ensures that the adsorption disk can tightly adhere to the object's surface with the maximum effective area, fundamentally avoiding adsorption failure caused by torque imbalance or poor initial sealing.

[0063] C) Dynamic preset of adsorption parameters: The controller 6 matches or generates initial adsorption parameters from a learnable item strategy database based on the characteristics of the identified items. For heavy and strong steel plates, a high-power, fast suction strategy is preset; for light and fragile glass, a low-power, gradual suction flexible strategy is preset.

[0064] Furthermore, this control algorithm overturns the traditional passive mode of post-contact adjustment, realizing active parameter planning before adsorption. This decision-making process can be precisely modeled as a mapping function from the item feature space to the adsorption strategy space. The controller will extract the item feature vectors (such as estimated weight) from previous steps. ,volume Surface flatness Using parameters such as (e.g., ...) as input, this function directly generates a set of optimal initial adsorption parameters. This mapping relationship can be expressed as:

[0065] ;

[0066] The output strategy vector includes the target vacuum pressure. Initial pumping rate of the vacuum pump and the time slope of the pressure build-up process For example, when the target is identified as a heavy and dense steel plate, the function will output a high-power, fast-response parameter combination; while when the target is a thin and fragile glass sheet, a low-power, slow-start flexible adsorption strategy will be matched, realizing precise adaptive adsorption for different workpieces.

[0067] S2: Predictive anti-shedding

[0068] During the adsorption and transfer of items, the controller 6 continuously monitors the pressure change rate and its acceleration. When the pressure change rate exceeds the preset warning threshold or an abnormal peak appears in the acceleration, the system predicts that adsorption failure or slippage is about to occur. Thus, before the vacuum is completely lost, the anti-drop mechanism 5 is driven to clamp and fix the items, and at the same time, the pumping mechanism 2 is instructed to instantly increase to the maximum power to try to restore adsorption.

[0069] Furthermore, during the process of an item being adsorbed and transferred at high speed or over long distances, the system activates its core safety mechanism—the predictive anti-drop function. During this time, the controller continuously monitors the real-time data from the vacuum pressure sensor at extremely high frequency. The system continuously calculates the rate of pressure change (first derivative) and its acceleration (second derivative). A pre-defined risk assessment logic is in place; if any of the following trigger conditions are met by the detected pressure change, the system will immediately determine that adsorption is about to fail:

[0070] ;

[0071] Under this condition, This is a leak warning threshold for a slow and continuous decrease in pressure, while This is an impact warning threshold for sudden and violent pressure fluctuations caused by external collisions or vibrations. Once the condition is triggered, the system does not need to wait for the vacuum to be completely lost, but instead preemptively drives the anti-fall mechanism to perform physical clamping within milliseconds, while simultaneously instructing the air extraction mechanism to operate at maximum power, nipping potential falling accidents in the bud.

[0072] S3: Deep Learning-Based Device Health Status Diagnosis and Lifespan Prediction

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

[0074] Furthermore, to move beyond simple task execution and gain a deep understanding of its own health status, the controller constructs a comprehensive, multi-dimensional device status profile. During each task execution, it not only records task performance data but also simultaneously collects a series of underlying operational data reflecting the health of core moving parts. This data is integrated into a high-dimensional time-series state vector. It functions like an electronic medical record for the device, providing a rich information foundation for subsequent accurate diagnosis. The state vector can be represented as:

[0075] ;

[0076] in, It is real-time vacuum pressure. It is the vacuum setup time. It is the real-time operating current of the vacuum pump motor. These are key frequency features extracted from vibration signals, and This refers to the operating temperature of the key motor.

[0077] B) Intelligent Diagnosis and Root Cause Analysis: When a prolonged vacuum build-up time or a decrease in vacuum level is detected, the system no longer simply attributes it to suction cup contamination. Instead, it inputs the current state vector into a pre-trained neural network. This model can decouple the fault and accurately distinguish whether the root cause of the performance degradation is suction cup surface contamination, suction cup aging, decreased vacuum pump efficiency, or minor pipeline leaks.

[0078] Furthermore, when the controller detects performance degradation trends such as prolonged vacuum build-up time or decreased stable vacuum level through long-term data comparison, it inputs a 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 lies in complex pattern recognition and fault decoupling; it can learn and understand the unique fingerprints exhibited by different faults in multi-dimensional data. For example, it knows that aging of the suction cup typically manifests as a slow decline in performance data while the motor data remains normal, while a decrease in vacuum pump efficiency may be accompanied by an abnormal increase in current and an enhancement of vibration signals at specific frequencies. In this way, the model can accurately analyze the root cause of performance degradation: whether it is suction cup surface contamination, suction cup material aging, vacuum pump efficiency decline, or a minor leak in the pipeline.

[0079] C) Intelligent maintenance decision-making and life prediction: Based on the diagnostic results, the system triggers corresponding actions:

[0080] If the surface is determined to be contaminated, the existing intelligent cleaning program will be executed.

[0081] If the suction cup is determined to be worn out, the system will issue a command to replace the suction cup and predict its remaining safe service life based on the aging trend.

[0082] If the problem is determined to be with the pump or pipeline, a specific inspection alarm will be issued to the maintenance personnel.

[0083] Furthermore, after the neural network model provides an accurate fault diagnosis report, the system immediately initiates an intelligent maintenance decision-making process that matches the diagnosis results. If the root cause is determined to be suction cup surface contamination, the system automatically triggers a cleaning procedure. If the problem is with the pump or piping, a specific inspection alarm will be sent to maintenance personnel. For progressive wear and tear issues like suction cup aging, the system activates its Remaining Useful Life (RUL) prediction function. This function continuously tracks a health index that quantifies the degree of aging. It also uses a built-in decay model to predict when it will reach a preset failure threshold. The remaining time. This prediction logic can be abstractly represented as a function.

[0084] ;

[0085] This function indicates that the predicted remaining useful life is based on the current state of aging. Its rate of deterioration (first derivative) and the final failure criteria To make scientific inferences.

[0086] Working principle: The vacuum pumping mechanism 2 generates vacuum power through the series combination of vacuum pump 204 and vacuum generator 205. Support leg 201 mounts vacuum chamber 202 above base plate 1. After vacuum pump 204 starts, it draws air from vacuum chamber 202, which is then conducted to adsorption plate 401 through suction port 203 and suction pipe 402, creating a negative pressure environment inside. Vacuum generator 205 utilizes the Venturi effect of compressed air to accelerate the pumping process. Adjusting valve 206 dynamically regulates the vacuum output. Vacuum chamber 202 acts as a gas buffer chamber, stabilizing airflow fluctuations and extending the service life of vacuum pump 204.

[0087] The cleaning mechanism 3 achieves automated cleaning of the adsorption plate 401 through the linkage of the adjusting component, driving component, cleaning component, and air blowing component. Two electric slide rails 301 are symmetrically distributed on both sides of the suction mechanism 2. Their moving seats drive the fixed block 302 to move laterally, aligning the cleaning component with the adsorption plate 401. The telescopic rod 304 inside 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 plate 401. The motor 306 drives the receiving plate 307 and the cleaning brush 308 to rotate, and the cleaning liquid such as alcohol or neutral detergent sprayed from the nozzle 310 at the bottom of the cleaning box 309 achieves dual cleaning of "rotational brushing + liquid penetration". Then, the fan 312 blows away the residual liquid and debris to ensure that the adsorption interface is dry and clean.

[0088] The adsorption mechanism 4 is centered around an adsorption plate 401. The suction pipe 402 at the bottom of the adsorption plate 401 is connected to the vacuum chamber 202. Multiple suction holes 405 on its upper edge increase the suction area. The surface texture 404 of the adsorption plate 401 can embed into microscopic pits on the surface of the object, simultaneously increasing friction. A vacuum pressure sensor 403 monitors the vacuum level inside the adsorption plate 401 in real time.

[0089] After the suction cup 401 finishes gripping the item, the telescopic rod 501 extends, and its output end pushes the fixing plate 503 towards the item via the spring 502. The spring 502 generates a buffering force upon contact with the item, preventing rigid collisions that could damage the item's surface. The anti-slip pad 504 on the inner side of the fixing plate 503 generates additional friction when in contact with the item, preventing the item from falling off during fixation.

[0090] In summary, a vacuum suction cup device constructs a complete automated gripping system through vacuum generation by the air extraction mechanism 2, intelligent cleaning by the cleaning mechanism 3, precise sealing by the adsorption mechanism 4, and mechanical redundancy by the anti-drop mechanism 5. This improves the adaptability and reliability under complex working conditions and provides an efficient and safe clamping solution for the field of industrial automation.

[0091] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vacuum suction cup device, characterized in that, Includes a base plate (1), on which an air extraction mechanism (2) is fixedly installed to provide vacuum air. On the base plate (1) is a cleaning mechanism (3), which includes an adjustment component, a drive component, a cleaning component and an air blowing component, which is used to clean and blow the device. On the air extraction mechanism (2) is a fixed adsorption mechanism (4), which is used to adsorb items. On the air extraction mechanism (2) is also a non-detachment mechanism (5), which is used to fix the items when the adsorption mechanism (4) adsorbs the items. The adjustment component in the cleaning mechanism (3) includes two electric slide rails (301) fixedly installed on the upper part of the base plate (1). A fixed block (302) is fixedly installed on the upper part of the moving seat of the two electric slide rails (301). A lifting groove (303) is opened on one side of the two fixed blocks (302). A telescopic rod (304) is fixedly installed at the bottom inside the two fixed blocks (302). The drive assembly includes a connecting plate (305) that is fixedly installed between the output ends of the two telescopic rods (304). A motor (306) is fixedly installed at the bottom of the connecting plate (305), and a receiving plate (307) is fixedly connected to the output end of the motor (306). The cleaning assembly includes a cleaning brush (308) fixedly installed at the bottom of the receiving plate (307), and cleaning boxes (309) are provided on both sides of the connecting plate (305). Multiple nozzles (310) are provided at the bottom of the two cleaning boxes (309), and the multiple nozzles (310) are all located above the cleaning brush (308). The air blowing assembly includes support blocks (311) that are fixedly installed at both ends of the bottom of the connecting plate (305), and a fan (312) is provided on one side of each of the two support blocks (311).

2. The vacuum suction cup device according to claim 1, characterized in that, The air extraction mechanism (2) includes multiple support legs (201) fixedly installed on the upper part of the base plate (1). A vacuum box (202) is fixedly installed on the upper part of the multiple support legs (201). An air extraction hole (203) is opened on the upper part of the vacuum box (202). A vacuum tube (204) is fixedly connected to one end of the vacuum box (202). A vacuum generator (205) is fixedly connected to one end of the vacuum tube (204). A regulating valve (206) is provided on the outer wall of the vacuum tube (204).

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

4. The vacuum suction cup device according to claim 1, characterized in that, The anti-fall-off mechanism (5) includes multiple telescopic rods (501) fixedly installed on the upper part of the vacuum box (202). Each of the multiple telescopic rods (501) has a spring (502) fixedly connected to one side of its output end. Each of the multiple springs (502) has a fixing plate (503) fixedly connected to one end. Each of the multiple fixing plates (503) has an anti-slip pad (504) on one side.

5. The vacuum suction cup device according to claim 1, characterized in that, The two electric slide rails (301) are respectively arranged on both sides of the air extraction mechanism (2), and a controller (6) is also placed on the upper part of the base plate (1).

6. A vacuum suction cup device according to claim 5, characterized in that, The controller (6) has a built-in intelligent collaborative control system, which is electrically connected to the vacuum pressure sensor (403), the pumping mechanism (2), the cleaning mechanism (3), and the anti-dropping mechanism (5). It runs a control algorithm based on multi-sensor fusion and predictive maintenance, which includes the following steps: S1: Adaptive grasping strategy generation based on visual and force fusion A) Target perception and feature extraction: Before the adsorption action, the target object is actively scanned by the 3D vision sensor integrated on the device to obtain its three-dimensional point cloud data. The controller (6) extracts the geometric shape, size, surface flatness, presence or absence of holes, and precise position and posture of the object on the worktable. B) Optimal Adsorption Point Planning: Based on the extracted features, the algorithm automatically calculates the centroid and centroid of the item, and combines them with a preset stability model to plan the optimal adsorption center point or adsorption area to avoid unbalanced torque. For irregular items or items with holes, the algorithm will automatically plan adsorption points to avoid holes or select multiple adsorption points. C) Dynamic preset of adsorption parameters: The controller (6) matches or generates initial adsorption parameters from a learnable item strategy database based on the identified item characteristics. For heavy and sturdy steel plates, a high-power, fast air extraction strategy is preset; for light and fragile glass, a low-power, gradual air extraction flexible strategy is preset. S2: Predictive anti-shedding During the adsorption and transfer of the item, the controller (6) continuously monitors the pressure change rate and its acceleration. When the pressure change rate exceeds the preset warning threshold or the acceleration shows an abnormal peak, the system predicts that adsorption failure or slippage will occur. Thus, before the vacuum is completely lost, the anti-drop mechanism (5) is driven to clamp and fix the item, and at the same time, the pumping mechanism (2) is instructed to instantly increase to the maximum power to try to restore adsorption. S3: Deep Learning-Based Device Health Status Diagnosis and Lifespan Prediction A) Multidimensional state data acquisition: The controller (6) not only records the pressure and vacuum establishment time, but also synchronously acquires and records the current, vibration frequency and operating temperature data of the vacuum generator (205) and the motor (306), forming a high-dimensional time series state vector of the equipment operation; B) Intelligent Diagnosis and Root Cause Analysis: When a prolonged vacuum build-up time or a decrease in vacuum level is detected, the system no longer simply attributes it to suction cup contamination. Instead, it inputs the current state vector into a pre-trained neural network. This model can decouple the fault and accurately distinguish whether the root cause of the performance degradation is suction cup surface contamination, suction cup aging, decreased vacuum generator efficiency, or minor pipeline leaks. C) Intelligent maintenance decision-making and life prediction: Based on the diagnostic results, the system triggers corresponding actions: If the surface is determined to be contaminated, the existing intelligent cleaning program will be executed. If the suction cup is determined to be worn out, the system will issue a command to replace the suction cup and predict its remaining safe service life based on the aging trend. If the problem is determined to be with the pump or pipeline, a specific inspection alarm will be issued to the maintenance personnel.

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