Non-contact transfer and self-adaptive soft robot carrying system for hygienic products

Abstract

The invention discloses a non-contact transfer and self-adaptive soft robot carrying system for hygienic products, and relates to the technical field of hygienic product manufacturing. The system comprises a conveying roller, a plurality of aerodynamic grabbing units, a first pneumatic control unit, a robot mechanical arm, an end effector, a second pneumatic control unit and a controller. And the conveying roller is rotatably arranged. The aerodynamic gripping unit includes a nozzle body. The nozzle body is provided with a central air supply inlet, a radial discharge outlet and a plane clamping face. The central gas supply inlet is in communication with the radial discharge outlet. The plane clamping face is located on the side, facing the to-be-conveyed absorption core, of the nozzle body. The radial discharge outlets are distributed in the circumferential direction of the plane clamping face. And the first pneumatic control unit is communicated with the central air supply inlet. The end effector is coupled to an end of the robotic robot arm. The device comprises a plurality of pneumatic soft actuators which are distributed around a grabbing area at intervals. And each pneumatic soft actuator is internally provided with a closed air cavity. And the second pneumatic control unit is communicated with each closed air cavity.

Description

Technical Field

[0001] This invention relates to the field of hygiene product manufacturing technology, and more specifically, to a non-contact transfer and adaptive soft robot handling system for hygiene products. Background Technology

[0002] Modern absorbent hygiene products require efficient transfer of porous substrates and precise packaging of finished products during manufacturing. This necessitates processing methods that avoid damage from mechanical contact, prevent superabsorbent polymer dust contamination, and accommodate the product's flexibility and rapid specification changes. The production environment places stringent demands on the stability and efficiency of material transfer and packaging processes to ensure that the final product's absorbency and appearance quality meet standards.

[0003] In the material transfer stage, the industry commonly uses mechanical clamps or vacuum conveyors to transport porous substrates. In the finished product packaging stage, rigid pushers are typically used to stack and bag products. These existing technologies have long been used in hygiene product production lines and have become industry standard practices.

[0004] Mechanical clamps can easily cause mechanical compression during core material clamping, leading to a significant decrease in core material bulkiness and directly affecting the product's liquid absorption performance. Vacuum conveying systems have high energy consumption, and superabsorbent polymer dust can easily enter vacuum pipes and filters, causing blockages and increasing maintenance costs. Rigid pushers are difficult to adapt to flexible and irregularly shaped finished products, resulting in wrinkles and tears. When product specifications need to be changed, rigid components of the corresponding size must be manually replaced, causing extended production line downtime and significantly reducing production efficiency. Summary of the Invention

[0005] The present invention provides a non-contact delivery and adaptive soft robot handling system for hygiene products, which aims to improve at least one of the above-mentioned technical problems.

[0006] To address the aforementioned technical problems, this invention provides a non-contact delivery and adaptive soft robot handling system for hygiene products, comprising a conveying roller, multiple aerodynamic gripping units, a first pneumatic control unit, a robotic arm, an end effector, a second pneumatic control unit, and a controller.

[0007] Multiple pneumatic gripping units are spaced apart circumferentially along the conveyor roller. The conveyor roller is rotatable to drive the pneumatic gripping units to move cyclically along the conveying path.

[0008] Each aerodynamic gripping unit includes a nozzle body. The nozzle body has a central air inlet, a radial exhaust outlet, and a planar clamping surface. The central air inlet and the radial exhaust outlet are connected through an internal air passage within the nozzle body. The planar clamping surface is located on the side of the nozzle body facing the absorber core to be conveyed. The radial exhaust outlets are distributed circumferentially along the planar clamping surface, and the spray direction is radially outward along the planar clamping surface.

[0009] The first pneumatic control unit is connected to the central air inlet and supplies gas to the nozzle body so that the airflow discharged from the radial outlet flows along the planar clamping surface and forms a suspension gap between the planar clamping surface and the absorber core.

[0010] The end effector is engaged at the end of the robotic arm. The end effector includes multiple pneumatic soft actuators, which are spaced apart around the gripping area, and each pneumatic soft actuator has a sealed air chamber inside.

[0011] The second pneumatic control unit is connected to each sealed air chamber to regulate the internal air pressure of each pneumatic soft actuator.

[0012] The controller is electrically connected to the first pneumatic control unit, the second pneumatic control unit, and the robot arm, respectively.

[0013] As a further optimization, the non-contact delivery and adaptive soft robot handling system for hygiene products further includes a porosity sensor. The porosity sensor is positioned at a detection station before the absorbent core enters the aerodynamic gripping unit and is electrically connected to the controller. The controller adjusts the air supply pressure and / or air supply flow rate of the first pneumatic control unit based on the detection signal from the porosity sensor.

[0014] As a further optimization, the porosity sensor includes one or more of a differential pressure sensor, a flow sensor, and a distance sensor.

[0015] When a differential pressure sensor is used, the adsorption force is controlled and compensated by pressure commands.

[0016] .

[0017] In the formula: This is a gas supply pressure command. This serves as the reference for gas supply pressure. This is the porosity feedback gain. This is the equivalent porosity. For reference equivalent porosity. This is the gap feedback gain. The target hovering gap. This represents the actual hovering clearance.

[0018] .

[0019] .

[0020] .

[0021] In the formula, To simplify the parameters of the formula. This is the structural correction factor. The equivalent permeability is calculated based on sensor detection. The equivalent feature size of the channel. To detect the dynamic viscosity of gases. To detect the equivalent thickness of the substrate at the detection location. To detect the volumetric flow rate of airflow through the substrate. To effectively detect the area. To detect pressure difference.

[0022] As a further optimization, the outer periphery of the planar clamping surface is provided with a Coanda edge. The Coanda edge is formed by a smooth outward transition of the planar clamping surface and is located outside the radial discharge outlet.

[0023] As a further optimization, the Coanda edge is a ring-shaped convex curved surface structure that extends continuously along the circumference of the planar clamping surface. The cross-section of the Coanda edge is arc-shaped or arc-shaped.

[0024] The expression for reducing edge impact at the Coanda edge is:

[0025] .

[0026] In the formula: To set the edge impact pressure after the Coanda edge. This represents the edge impact pressure when it is not set. This represents the natural exponential function. is the wall-attached deflection attenuation coefficient. Let be the radius of curvature of the Coanda edge. This represents the actual hovering clearance.

[0027] As a further optimization, a plurality of elastic friction elements are provided on the planar clamping surface. The plurality of elastic friction elements are spaced apart on the planar clamping surface, and the top surface height of each elastic friction element is lower than the nominal hovering gap formed by the absorption core below the planar clamping surface under the design conditions.

[0028] .

[0029] .

[0030] In the formula: This refers to the nominal hovering clearance. This represents the average time window. This is the starting time. This represents the actual hovering clearance. It is a time variable. express The differential. This is the pressure correction factor. This refers to air density. This represents the total radial discharge flow rate. The effective negative pressure area. The characteristic radius is denoted as . The quality of the absorber core. This is the acceleration due to gravity.

[0031] As a further optimization, the elastic friction element is a silicone bump.

[0032] .

[0033] In the formula, This is the height of the top surface of the friction element relative to the clamping surface. To allow for a margin of safety.

[0034] As a further optimization, the plurality of pneumatic soft actuators are arranged in a star shape. The pneumatic soft actuators are integrally molded from an elastomer material, specifically silicone rubber. The second pneumatic control unit is capable of switching the internal air pressure of the pneumatic soft actuators to a low-pressure state of 0.1 MPa to 0.3 MPa or a high-pressure state of 0.6 MPa to 0.8 MPa.

[0035] The pushing force of the pneumatic soft actuator is: .

[0036] .

[0037] In the formula: To push out output force. This is the output efficiency coefficient. This represents the equivalent area under pressure. This refers to the pressure in the actuator's air chamber. This is the equivalent stiffness of the actuator. For reference stiffness. This is the pressure-stiffness slope coefficient. For reference pressure.

[0038] As a further optimization, the central air supply inlet is located at the axial center of the nozzle body. The radial exhaust outlets are located at the bottom of the nozzle body and are distributed in a ring around the central air supply inlet.

[0039] As a further optimization, the non-contact delivery and adaptive soft robot handling system for hygiene products also includes a drive motor and a conveyor belt. The drive motor is connected to the conveyor roller. The conveyor belt is positioned at the junction of the conveyor roller to receive the absorbent core released by the pneumatic gripping unit.

[0040] By adopting the above technical solution, the present invention can achieve the following technical effects.

[0041] This invention effectively overcomes multiple shortcomings in the manufacturing process of absorbent hygiene products, such as easy damage to the core material during transfer, easy contamination of the vacuum system, poor adaptability in the packaging stage, and low efficiency in specification switching, by integrating aerodynamic non-contact transfer and adaptive soft robot handling technology. Utilizing the non-contact clamping force formed by Bernoulli's principle, airflow flows along the clamping surface without penetrating the substrate. This not only avoids mechanical compression of the core material's bulkiness but also significantly reduces the risk of blockage of the conveying system by superabsorbent polymer dust, thereby improving the stability and reliability of equipment operation and reducing maintenance frequency and energy consumption. Simultaneously, by adding Coanda edges and elastic friction elements, the airflow guidance and friction damping characteristics of the clamping surface are further optimized, effectively suppressing edge warping and lateral slippage of the product during high-speed conveying, ensuring conveying accuracy and stability.

[0042] In the packaging process, this invention employs a pneumatic soft robot end effector. By adjusting the internal air pressure, it achieves adaptive stiffness changes. During the grasping phase, it flexibly conforms to irregularly stacked products in a low-stiffness state, avoiding compression or tearing. During the pushing phase, it switches to a high-stiffness state, ensuring the precision and stability of the packaging action. This soft actuator can adapt to different product specifications without hardware changes, significantly shortening production line changeover time and improving flexible manufacturing capabilities and overall production efficiency. Furthermore, the soft actuator offers excellent collaborative safety, reducing human-machine interaction risks, simplifying on-site safety protection facilities, and further optimizing production layout and operating costs. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the specific embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is an isometric drawing of a non-contact delivery and adaptive soft robot handling system for hygiene products.

[0045] Figure 2 This is a schematic diagram of the interaction between an aerodynamic gripping unit and a porous substrate.

[0046] Figure 3 This is a detailed structural diagram of the aerodynamic gripping unit (highlighting the structure of the Coanda ring and the hybrid friction element).

[0047] Figure 4 This is an isometric view of the end effector of a soft robot in its approach state.

[0048] Figure 5 This is an isometric view of the end effector of a soft robot in the grasping state.

[0049] Figure 6 It is the control logic of a non-contact delivery and adaptive soft robot handling system for hygiene products.

[0050] The diagram shows the following labels: 100-Conveyor roller, 102-Pneumatic gripping unit, 103-Conveyor belt, 104-Nozzle body, 106-Central air inlet, 108-Radial exhaust outlet, 110-Planar clamping surface, 200-Absorbing core, 301-Coanda edge, 302-Elastic friction element, 400-Robot arm, 401-End effector, 402-Pneumatic soft actuator, 405-Multi-layer stacked absorbing core, 500-Controller, 501-Porosity sensor, 502-First pneumatic control unit, 503-Second pneumatic control unit. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0052] In traditional hygiene product manufacturing processes, the mechanical clamping of porous substrates can reduce the bulkiness of the core material, affecting its absorbency. Vacuum conveying systems are energy-intensive, and superabsorbent polymer dust can easily cause blockages, increasing maintenance costs. Furthermore, rigid pushers are difficult to adapt to flexible products during the finished product packaging process, easily causing product damage, and manual replacement of parts is required for specification changes, leading to reduced production efficiency.

[0053] In response, by Figures 1 to 6 As shown, this embodiment of the invention provides a non-contact delivery and adaptive soft robot handling system for hygiene products, which includes a conveying roller 100, multiple aerodynamic gripping units 102, a first pneumatic control unit 502, a robot arm 400, an end effector 401, a second pneumatic control unit 503, and a controller 500.

[0054] Multiple pneumatic gripping units 102 are arranged at circumferential intervals along the conveyor roller 100. The conveyor roller 100 is rotatable to drive the pneumatic gripping units 102 to move cyclically along the conveying path.

[0055] Each aerodynamic gripping unit 102 includes a nozzle body 104. The nozzle body 104 has a central air inlet 106, a radial exhaust outlet 108, and a planar clamping surface 110. The central air inlet 106 and the radial exhaust outlet 108 are connected through an internal air passage within the nozzle body 104. The planar clamping surface 110 is located on the side of the nozzle body 104 facing the absorber core 200 to be conveyed. The radial exhaust outlets 108 are distributed circumferentially along the planar clamping surface 110, and the spray direction is radially outward along the planar clamping surface 110. Preferably, the central air inlet 106 is located at the axial center of the nozzle body 104. The radial exhaust outlets 108 are located at the bottom of the nozzle body 104 and are distributed in a ring around the central air inlet 106.

[0056] The first pneumatic control unit 502 is connected to the central air supply inlet 106 and supplies gas to the nozzle body 104 so that the airflow discharged from the radial discharge outlet 108 flows along the planar clamping surface 110 and forms a suspension gap between the planar clamping surface 110 and the absorber core 200.

[0057] The end effector 401 is engaged at the end of the robotic arm 400. The end effector 401 includes a plurality of pneumatic soft actuators 402, which are spaced apart around the gripping area, and each pneumatic soft actuator 402 has a sealed air chamber inside.

[0058] The second pneumatic control unit 503 is connected to each sealed air chamber to adjust the internal air pressure of each pneumatic soft actuator 402.

[0059] The controller 500 is electrically connected to the first pneumatic control unit 502, the second pneumatic control unit 503, and the robot arm 400, respectively.

[0060] For ease of understanding, the following explains some key terms in this embodiment: The aerodynamic gripping unit 102 achieves non-contact clamping and conveying of the absorbent core 200 through airflow. Its core lies in using high-speed airflow to create a negative pressure zone between the planar clamping surface 110 and the absorbent core 200, thereby generating levitation force and avoiding physical contact.

[0061] As the core component of the aerodynamic gripping unit 102, the nozzle body 104 has an air passage inside, which guides the gas to enter from the central air supply inlet 106 and to be ejected from the radial discharge outlet 108 to form an airflow field below the planar clamping surface 110.

[0062] The planar clamping surface 110 is the side of the nozzle body 104 facing the absorber core 200 to be conveyed. The airflow flows radially outward along this surface, which is the key interface for suspending the absorber core 200.

[0063] The suspension gap refers to the non-contact distance maintained between the absorber core 200 and the planar clamping surface 110 under the action of airflow. The formation of this gap is the basis for achieving non-contact transmission.

[0064] The end effector 401 is attached to the end of the robotic arm 400 and is used to perform grasping, handling, and placement operations on the absorbent core 200. It achieves adaptive handling of flexible objects through an internal pneumatic soft actuator 402.

[0065] The pneumatic soft actuator 402 is the core component of the end effector 401. It is made of elastic material and has a sealed air chamber inside. By adjusting the air pressure inside the air chamber, the stiffness and shape of the actuator can be changed to adapt to items of different shapes and sizes.

[0066] A sealed air chamber is located inside the pneumatic soft actuator 402 and is used to contain gas. By inflating or deflating it, the deformation and stiffness of the pneumatic soft actuator 402 can be controlled.

[0067] This invention discloses a non-contact transfer and adaptive soft robot handling system for hygiene products, aiming to achieve flexible and efficient handling of hygiene products. It overcomes the shortcomings of existing absorbent hygiene product manufacturing processes, such as easy damage during core material transfer, easy contamination of vacuum systems, poor adaptability in packaging, and low efficiency in specification switching.

[0068] In the conveying process of the absorbent core 200, multiple pneumatic gripping units 102 are arranged at circumferential intervals along the conveyor roller 100. The conveyor roller 100 is rotatable, for example, by means of an external drive device to rotate around its own axis, thereby driving the pneumatic gripping units 102 to move cyclically along a preset conveying path. This configuration allows the absorbent core 200 to be continuously conveyed from one workstation to another.

[0069] Each aerodynamic gripping unit 102 includes a nozzle body 104. The nozzle body 104 has a central air inlet 106, a radial exhaust outlet 108, and a planar clamping surface 110. The central air inlet 106 and the radial exhaust outlet 108 are connected through air passages inside the nozzle body 104. The planar clamping surface 110 is located on the side of the nozzle body 104 facing the absorber core 200 to be conveyed. The radial exhaust outlet 108 is distributed circumferentially along the planar clamping surface 110, and the spray direction is radially outward along the planar clamping surface 110. For example, the central air inlet 106 can be located at the top of the nozzle body 104, and the radial exhaust outlet 108 can be an annular slit. After the gas enters from the center, it is guided to the annular slit through the internal air passages and then sprayed radially outward along the planar clamping surface 110.

[0070] The first pneumatic control unit 502 is connected to the central air inlet 106 and supplies gas to the nozzle body 104. The supplied gas exits through the radial discharge outlet 108 and flows along the planar clamping surface 110. According to Bernoulli's principle, the high-speed airflow creates a low-pressure region, or suspension gap, between the planar clamping surface 110 and the absorber core 200. The adsorption force generated by this low-pressure region balances the gravity of the absorber core 200, thus suspending the absorber core 200 without contacting the planar clamping surface 110. For example, the first pneumatic control unit 502 can be an air pump or compressed air source, controlling the gas flow and on / off state through a simple valve to maintain the suspension of the absorber core 200.

[0071] In the grasping and handling phase of the absorber core 200, the end effector 401 is engaged with the end of the robotic arm 400. The robotic arm 400 is responsible for the spatial positioning and movement of the end effector 401. The end effector 401 includes multiple pneumatic soft actuators 402, which are spaced apart around the grasping area, and each pneumatic soft actuator 402 has a sealed air chamber inside. For example, these pneumatic soft actuators 402 can be arranged in a circular or square array, and their material can be an elastic rubber material that deforms by inflation or deflation.

[0072] The second pneumatic control unit 503 is connected to each sealed air chamber to regulate the internal air pressure of each pneumatic soft actuator 402. By changing the air pressure, the stiffness and shape of the pneumatic soft actuator 402 can be controlled, enabling it to adapt to absorber cores 200 of different shapes and sizes. For example, the second pneumatic control unit 503 may include multiple solenoid valves and pressure sensors, and by controlling the opening and closing and duration of the solenoid valves, precise regulation of the air pressure inside the air chamber can be achieved.

[0073] The coordinated operation of the entire system is handled by controller 500. Controller 500 is electrically connected to the first pneumatic control unit 502, the second pneumatic control unit 503, and the robotic arm 400. Controller 500 receives feedback signals from each component and, according to a preset program or real-time instructions, sends control signals to each component to achieve a series of automated operations such as non-contact transfer, grasping, handling, and placement of the absorption core 200. For example, controller 500 can be a programmable logic controller 500 (PLC) or an industrial computer, communicating with each actuator via wired or wireless means.

[0074] This system achieves non-contact conveying of the absorbent core 200 of sanitary products through the pneumatic gripping unit 102, effectively avoiding damage to the core material's fluffiness caused by traditional mechanical clamping and reducing the risk of contamination and blockage of the conveying system by superabsorbent polymer dust. Simultaneously, the pneumatic soft actuator 402 on the end effector 401 is used for finished product handling, which can adapt to the irregular shape of flexible products, reducing product damage. Furthermore, stiffness changes are achieved through air pressure adjustment, allowing for adaptation to different product specifications without hardware replacement, thereby improving the production line's flexible manufacturing capabilities and overall production efficiency.

[0075] Specifically, the non-contact delivery and adaptive soft robot handling system for hygiene products of the present invention addresses multiple shortcomings in existing technologies by introducing two core modules: an "aerodynamic transfer component" and an "adaptive soft robot stacker." The aerodynamic transfer component is used to move the absorbent core 200. The robotic arm 400 is used to move a single absorbent core 200, as well as multiple stacked absorbent cores (such as…). Figure 1 , Figure 4 and Figure 5 (As shown in 405).

[0076] On one hand, the aerodynamic transfer assembly of the present invention utilizes Bernoulli's principle to generate a non-contact clamping force. Specifically, pressurized gas is radially injected through a fluid outlet onto the clamping surface, forming a high-speed airflow. According to Bernoulli's equation, High-speed airflow creates a low-pressure zone (negative pressure zone) near the clamping surface relative to ambient pressure. The adsorption force generated by this negative pressure zone lifts porous absorbent materials (such as absorbent core materials) to the vicinity of the clamping surface and keeps them suspended. This achieves stable transport of the materials without physical contact, fundamentally avoiding damage to the bulkiness of the core material caused by mechanical compression. It represents the static pressure of the fluid. It represents the dynamic pressure of the fluid. The fluid density is given. The velocity of the fluid.

[0077] Compared to traditional vacuum conveying systems, the airflow of this invention flows along the clamping surface rather than penetrating the object, enabling stable conveying even for highly porous absorbent substrates. It also effectively avoids clogging of the conveying system by superabsorbent polymer dust, reducing equipment maintenance costs and downtime.

[0078] On the other hand, the packaging module of this invention uses a pneumatic soft robot actuator as the end effector. This actuator, made of an elastomeric material (such as silicone rubber), can adjust its internal pressure via a second pneumatic control unit 503, thereby changing its stiffness to achieve adaptive gripping and packaging. During the finished product stacking gripping stage, by reducing the internal pressure, the actuator is in a low-stiffness state, allowing it to naturally curl and conform to the irregular product stack contours, avoiding compression or tearing of the finished products. During the stage of pushing the stacked finished products into the packaging bag, by increasing the internal pressure, the actuator switches to a high-stiffness state, ensuring that the stacked finished products can be stably and accurately loaded into the packaging bag. Furthermore, this soft actuator can adapt to different sizes and specifications of hygiene products without hardware replacement, significantly shortening product specification changeover time and improving the flexible production capacity of the production line.

[0079] Combination Figure 1 and Figure 2 As shown, the aerodynamic conveying assembly of the present invention includes a rotatable conveying roller 100, on which a plurality of aerodynamic gripping units 102 are evenly distributed along its circumference. The conveying roller 100 can be driven to rotate by a drive motor, thereby driving the aerodynamic gripping units 102 to move cyclically along the production path to realize the continuous conveying of the absorber core 200.

[0080] Each aerodynamic gripping unit 102 includes a nozzle body 104. A central air inlet 106 is located at the axial center of the nozzle body 104, and this central air inlet 106 is in fluid communication with a radial discharge outlet 108 located at the bottom of the nozzle body 104 via an internal air passage. The bottom of the nozzle body 104 is a planar clamping surface 110. The radial discharge outlets 108 are evenly distributed circumferentially along the planar clamping surface 110, and their spray direction is radially outward along the planar clamping surface 110. The aerodynamic conveying assembly rotates to switch angles, allowing the aerodynamic gripping units 102 at different angles on the conveyor roller 100 to be switched to face the conveyor belt, thereby increasing the conveying capacity per cycle.

[0081] During operation, a high-pressure gas source introduces pressurized gas (preferably compressed air) into the nozzle body 104 through the central gas supply inlet 106. After being distributed through the built-in air passage, the pressurized gas is ejected radially outward from the radial discharge outlet 108 along the planar clamping surface 110, forming a high-speed airflow flowing along the planar clamping surface 110.

[0082] According to Bernoulli's principle, the airflow has a certain velocity along the plane clamping surface 110, and the corresponding static pressure ( The pressure is lower than the ambient atmospheric pressure, thus forming a negative pressure zone between the planar clamping surface 110 and the absorbent core 200. When the adsorption force generated by this negative pressure zone is balanced with the gravity of the absorbent core 200, the absorbent core 200 will be suspended at a gap height below the planar clamping surface 110, preferably ranging from 0.5 mm to 2.0 mm.

[0083] .

[0084] .

[0085] In the formula: This refers to the nominal hovering clearance. This represents the average time window. This is the starting time. This represents the actual hovering clearance. It is a time variable. express The differential. This is the pressure correction factor. This refers to air density. This represents the total radial discharge flow rate. The effective negative pressure area. The characteristic radius (which can be taken as the equivalent radius from the radial discharge outlet 108 to the center of the negative pressure zone). The absorption core has a mass of 200. This is the acceleration due to gravity.

[0086] Specifically, due to achieving suspension balance, the actual hovering gap... Depend on and The joint solution was obtained. Among them, It represents the adsorption force.

[0087] The pressure difference in the negative pressure zone is approximately (Bernoulli type): .

[0088] The radial flow velocity is approximately: .

[0089] In the formula, The average pressure difference in the suspension zone. This is the pressure correction factor. air density ( ). The characteristic average radial velocity. This represents the total radial discharge flow rate. The characteristic radius (which can be taken as the equivalent radius from the radial discharge outlet 108 to the center of the negative pressure zone). This represents the actual hovering clearance.

[0090] In this embodiment, the airflow flows along the surface of the planar clamping surface 110, achieving suspension clamping without penetrating the absorbent core 200. Therefore, it can maintain a stable clamping effect even for porous absorbent substrates with high porosity. At the same time, since the airflow does not penetrate the substrate, the superabsorbent polymer dust will not be carried into the conveying system by the airflow, effectively avoiding clogging of pipes and filters, and reducing equipment maintenance frequency and energy consumption.

[0091] In this embodiment, the air outlet of the first pneumatic control unit 502 is connected to the central air supply inlet 106. The radial exhaust outlet 108 exhausts directly to the outside. The controller 500 is electrically connected to the first pneumatic control unit 502 to adjust the flow rate of the output airflow, thereby controlling the gas flow rate in the aerodynamic gripping unit 102.

[0092] In an optional embodiment, the air outlet of the first pneumatic control unit 502 is connected to the central air supply inlet 106. The radial exhaust outlet 108 is connected to the air inlet of the first pneumatic control unit 502. This allows the airflow to form a circulation, saving energy consumption of the first pneumatic control unit 502.

[0093] In practical applications, especially when transferring thin and flexible sanitary product absorbent cores 200 at high speeds or with high precision, the airflow discharged from the radial outlet 108 may generate local turbulence or impact at the edge of the planar clamping surface 110. This airflow impact may cause instability, vibration, or even minor damage to the edge of the absorbent core 200, thereby affecting the stability and reliability of the transfer.

[0094] To solve the above problems, such as Figure 3 As shown, this application further proposes that the outer periphery of the planar clamping surface 110 is provided with a Coanda edge 301. The Coanda edge 301 is formed by a smooth transition from the planar clamping surface 110 to the outside and is located outside the radial discharge outlet 108. A plurality of elastic friction elements 302 are provided on the planar clamping surface 110. The plurality of elastic friction elements 302 are spaced apart on the planar clamping surface 110, and the top surface height of each elastic friction element 302 is lower than the nominal hovering gap formed by the absorption core 200 below the planar clamping surface 110 under design conditions. Preferably, the Coanda edge 301 is an annular convex curved surface structure that extends continuously along the circumference of the planar clamping surface 110. The cross-section of the Coanda edge 301 is arc-shaped or arc-shaped. The elastic friction element 302 is a silicone bump.

[0095] To improve the stability of the aerodynamic transfer assembly during high-speed transport, this embodiment optimizes the structural design of the clamping surface. First, a raised Coanda profile is provided around the perimeter of the clamping surface. Utilizing the Coanda effect, radial airflow adheres to and flows along this profile, guiding the airflow away from the product edge and effectively suppressing edge warping and swaying, thus improving transport stability. Second, multiple elastic friction elements 302 (such as silicone bumps) are provided on the clamping surface. The height of these friction elements is slightly smaller than the product's nominal hovering gap. During normal transport, they do not contact the product; they only make slight contact with the product when high-speed acceleration or deceleration causes lateral shear displacement, preventing slippage through friction and further ensuring stability during high-speed transport.

[0096] The conditions under which the product does not slip are: .

[0097] .

[0098] .

[0099] In the formula, This represents the linearized frictional resistance force. The absorption core has a mass of 200. This is the tangential acceleration. is the coefficient of friction. The normal equivalent stiffness. This is the equivalent compression amount of contact compression. This indicates taking the larger value. This is the height of the top surface of the friction element relative to the clamping surface. This represents the actual hovering clearance.

[0100] Combination Figure 3 As shown, in order to solve the problem that the absorption core 200 is prone to lateral sliding (shear displacement) and edge warping during high-speed conveying, this embodiment optimizes the structure of the planar clamping surface 110 of the aerodynamic gripping unit 102 by adding a Coanda edge 301 and an elastic friction element 302.

[0101] The Coanda edge 301 is located around the periphery of the planar clamping surface 110 and features a convex curvature structure. When the airflow ejected from the radial discharge outlet 108 flows along the planar clamping surface 110 to the Coanda edge 301, according to the Coanda effect, the airflow adheres to the convex curvature surface of the Coanda edge 301 and deflects along its contour away from the absorber core 200. This prevents the high-speed airflow from directly impacting the edge of the absorber core 200, effectively suppressing warping and swaying of the absorber core 200 edge, and improving stability during high-speed conveying.

[0102] The Coanda edge 301 is located at the outer peripheral edge of the planar clamping surface 110, and is preferably an annular convex curved surface structure that extends continuously in the circumferential direction. The Coanda edge 301 is formed by a smooth transition from the planar clamping surface 110 to the outside, and its cross-section can be an arc shape, an arc corner shape, or other convex curvature profile that can guide the airflow to adhere to the wall. The radial discharge outlet 108 is located inside the Coanda edge 301, so that the airflow ejected from the radial discharge outlet 108 flows outward along the planar clamping surface 110, adheres to the surface of the Coanda edge 301, and deflects away from the edge of the absorber core 200.

[0103] The height and radius of curvature of the Coanda edge 301 are selected based on the nominal hovering gap, air supply pressure and substrate width to ensure that the airflow maintains attached flow at the edge and reduces direct disturbance to the substrate edge.

[0104] The expression for reducing edge impact in Coanda Edge 301 is: .

[0105] In the formula: To set the edge impact pressure after Coanda edge 301. This represents the edge impact pressure when it is not set. This represents the natural exponential function. is the wall-attached deflection attenuation coefficient. The radius of curvature of the Coenda edge is 301. This represents the actual hovering clearance.

[0106] Specifically, the Coanda edge 301 is a specially designed surface structure whose main function is to guide fluid (in this case, airflow) along a curved surface using the Coanda effect. By setting the Coanda edge 301 at the outer periphery of the planar clamping surface 110, the airflow exiting the radial discharge outlet 108 can be effectively and smoothly guided outside the planar clamping surface 110, avoiding sudden impacts or turbulence at the edge. This edge structure typically has a certain curvature to promote the wall-attachment effect of the airflow, allowing it to deflect stably along the edge surface. The Coanda edge 301 is formed by a smooth transition outward from the planar clamping surface 110, meaning that the Coanda edge 301 is not an abrupt structure, but rather seamlessly connected to the planar clamping surface 110, forming a continuous transition region without sharp angles. This smooth transition is crucial for maintaining the laminar flow state of the airflow, minimizing airflow separation and vortex generation, thereby ensuring that the airflow remains stable and controlled when leaving the planar clamping surface 110. Furthermore, the Coanda edge 301 is located outside the radial discharge outlet 108, ensuring that it can effectively capture and guide all airflow exiting from the radial discharge outlet 108. The airflow ejected outward from the radial discharge outlet 108 first forms a suspension gap below the planar clamping surface 110, and then diffuses outward. The Coanda edge 301 is located at the end of the path of these airflows, guiding them before they leave the area of ​​the planar clamping surface 110, thereby preventing the airflow from directly impacting the edge of the absorber core 200 or the surrounding environment, further optimizing the airflow control effect.

[0107] By employing the aforementioned technical solution, a Coanda edge 301 is provided on the outer periphery of the planar clamping surface 110, smoothly transitioning outward from the planar clamping surface 110 and located outside the radial discharge outlet 108, effectively utilizing the Coanda effect. Specifically, the airflow exiting from the radial discharge outlet 108 forms a suspension gap below the planar clamping surface 110, and upon reaching the edge of the planar clamping surface 110, it is smoothly guided outward by the Coanda edge 301. This significantly reduces the impact pressure and turbulence effects that the airflow may generate on the absorbent core 200 at the edge, thereby preventing vibration or damage to the edge of the absorbent core 200. Simultaneously, the stable guidance of the airflow helps maintain the uniformity and stability of the suspension gap, improving the accuracy and reliability of the absorbent core 200 during non-contact transfer. This design enables the system to achieve smoother and more efficient handling when processing thin, flexible absorbent cores 200, reducing the scrap rate caused by airflow impact and extending the service life of the equipment.

[0108] In situations involving high-speed transmission or external disturbances, a purely non-contact air flotation method may cause the absorber core 200 to drift laterally, rotate, or become inaccurately positioned while suspended, thus affecting the stability of the transmission and the accuracy of subsequent robotic grasping and handling.

[0109] In this regard, this application further proposes that a plurality of elastic friction elements 302 are provided on the planar clamping surface 110; the plurality of elastic friction elements 302 are spaced apart on the planar clamping surface 110, and the top surface height of each elastic friction element 302 is lower than the nominal hovering gap formed by the absorption core 200 below the planar clamping surface 110 under the design working conditions.

[0110] The elastic friction element 302 refers to a structure with a certain degree of elasticity and friction, typically made of a flexible material, capable of deforming and providing friction when in contact with the absorbent core 200. These elements can take various forms, such as bumps, stripes, grids, or bristle-like structures, and are preferably made of elastic polymers such as silicone, rubber, or polyurethane to ensure that they do not damage the absorbent core 200 upon contact and provide sufficient friction. The selection of its shape and material should comprehensively consider the contact area with the absorbent core 200, the required friction force, and the impact on the surface of the absorbent core 200.

[0111] The elastic friction element 302 is preferably a plurality of silicone bumps evenly distributed on the planar clamping surface 110. The material used is medical-grade silicone with a high coefficient of friction to avoid contamination or damage to the absorbent core 200. Specifically, its height is 0.1-0.2 mm lower than the nominal hover clearance.

[0112] .

[0113] In the formula, This is the height of the top surface of the friction element relative to the clamping surface. This refers to the nominal hovering clearance. To allow for a margin of safety.

[0114] During normal high-speed conveying, the elastic friction element 302 does not contact the absorbent core 200, ensuring that the fluffiness of the absorbent core 200 is not affected. When the conveying roller 100 accelerates or decelerates, causing the absorbent core 200 to undergo lateral shear displacement, the absorbent core 200 will make slight contact with the elastic friction element 302. The elastic friction element 302 uses its own friction to prevent the absorbent core 200 from continuing to slide, thereby ensuring the conveying position accuracy of the absorbent core 200.

[0115] Through the above technical solution, multiple elastic friction elements 302 are set on the planar clamping surface 110, and the height of their top surfaces is lower than the nominal suspension gap of the absorbent core 200 under the design conditions. While maintaining the non-contact transmission advantage of the absorbent core 200 of the sanitary products, this system effectively solves the problem of insufficient stability that may occur when the pure air flotation system faces external disturbances or requires precise position control.

[0116] Under normal operating conditions, the absorbent core 200 can still achieve frictionless levitation via the air cushion, avoiding damage and contamination to the product surface. When the absorbent core 200 is affected by airflow fluctuations, external impacts, or requires precise braking or positioning, its distance from the planar clamping surface 110 may temporarily decrease. At this time, the elastic friction element 302 can flexibly contact the absorbent core 200, providing appropriate friction and lateral constraint, thereby suppressing the drift, rotation, or excessive vibration of the absorbent core 200. This design achieves intelligent switching between non-contact and flexible contact, ensuring both the cleanliness and low damage of the transfer process, and significantly improving the stability and controllability of the absorbent core 200 during high-speed, high-precision transfer, ensuring the accuracy of subsequent robot grasping and handling.

[0117] In actual production, the physical properties of the absorber core 200, such as porosity, thickness, and weight, may vary due to batch differences or production fluctuations. If the air supply pressure and / or air supply flow rate of the first pneumatic control unit 502 remain constant, these differences may lead to instability in the suspension gap, which in turn may cause the absorber core 200 to be blown away, fall off, or be damaged due to improper suspension force during transmission, affecting the stability and reliability of the system.

[0118] Therefore, this invention also adds a porosity sensor 501 and a control system to form an adaptive porosity compensation mechanism. The control system can dynamically adjust the airflow speed and pressure at the fluid discharge port based on the real-time porosity data of the substrate collected by the porosity sensor 501, ensuring that a stable negative pressure zone and suspension state can be formed for absorbent substrates with different porosities, thereby improving the system's adaptability to substrates of different specifications.

[0119] Based on the above embodiments, in an optional embodiment of the present invention, the non-contact delivery and adaptive soft robot handling system for hygiene products further includes a porosity sensor 501. The porosity sensor 501 is disposed at a detection station before the absorbent core 200 enters the aerodynamic gripping unit 102 and is electrically connected to the controller 500. The controller 500 adjusts the air supply pressure and / or air supply flow rate of the first pneumatic control unit 502 according to the detection signal from the porosity sensor 501. Preferably, the porosity sensor 501 includes one or more of a differential pressure sensor, a flow sensor, and a distance sensor.

[0120] When a differential pressure sensor is used, the adsorption force is controlled and compensated by pressure commands.

[0121] .

[0122] In the formula: This is a gas supply pressure command. This serves as the reference for gas supply pressure. This is the porosity feedback gain. This is the equivalent porosity. For reference equivalent porosity. This is the gap feedback gain. The target hovering gap. This represents the actual hovering clearance.

[0123] In another embodiment, the adsorption force can also be controlled and compensated via flow command.

[0124] .

[0125] In the formula, This is a gas supply flow command. This serves as the benchmark for gas supply flow rate. This is the porosity compensation coefficient. This is the gap compensation coefficient.

[0126] .

[0127] .

[0128] .

[0129] In the formula, This is the equivalent porosity. To simplify the parameters of the formula. This is the structural correction factor. The equivalent permeability is calculated based on sensor detection. The equivalent feature size of the channel. To detect the dynamic viscosity of gases. To detect the equivalent thickness of the substrate at the detection location. To detect the volumetric flow rate of airflow through the substrate. To effectively detect the area. To detect pressure difference.

[0130] The porosity sensor 501 is a detection unit used to detect the air permeability characteristics of a porous substrate, and may include one or more of a differential pressure sensor, a flow sensor, and a distance sensor. The controller 500 calculates the equivalent porosity or air permeability of the substrate based on the detected differential pressure, flow rate, and substrate thickness parameters, and adjusts the air supply pressure and / or flow rate of the first pneumatic control unit 502 accordingly.

[0131] The porosity sensor 501 is a device used to measure the porosity or permeability characteristics of the absorber core 200 material to be transported. Its function is to acquire key physical parameters of the absorber core 200 before it is processed by the pneumatic gripping unit 102, providing a data basis for subsequent adaptive control. This sensor can be implemented using various techniques, such as assessing permeability by measuring the flow rate of gas passing through the absorber core 200 under a specific pressure difference, or using optical imaging technology to analyze the microstructure of the material to infer porosity. The detection station is a dedicated location within the system for measuring the characteristics of the absorber core 200, and its key feature is that it is positioned just before the absorber core 200 is gripped by the pneumatic gripping unit 102. This pre-detection ensures that the system can acquire real-time characteristic data of the absorber core 200 before the actual gripping operation begins, thus providing sufficient response time for subsequent dynamic adjustments.

[0132] Preferably, before the absorber core 200 enters the pneumatic gripping station, a preset detection airflow is applied to the substrate surface through a detection nozzle. A differential pressure sensor detects the pressure difference across the detection area, a flow sensor detects the flow rate through the detection nozzle, and the controller 500 calculates the equivalent air permeability coefficient of the substrate based on the relationship between pressure difference and flow rate, and converts it into a porosity characterization value. If this characterization value is higher than a preset threshold, the air supply pressure is increased. If it is lower than the preset threshold, the air supply pressure is decreased to maintain a preset hovering gap for the absorber core 200.

[0133] The controller 500 adjusts the air supply pressure and / or air supply flow rate of the first pneumatic control unit 502 based on the detection signal from the porosity sensor 501. This means that after receiving data from the porosity sensor 501 regarding the porosity or related characteristics of the absorber core 200, the controller 500 calculates the optimal air supply pressure and / or air supply flow rate required to maintain a stable suspension gap based on a preset control algorithm or model. Subsequently, the controller 500 sends instructions to the first pneumatic control unit 502 to precisely adjust its output to adapt to the specific characteristics of the absorber core 200. For example, when the porosity of the absorber core 200 is detected to be high, the controller 500 may instruct the first pneumatic control unit 502 to appropriately increase the air supply pressure or flow rate to compensate for gas leakage and ensure sufficient levitation force; conversely, when the porosity is low, the air supply parameters may be reduced to avoid excessive blowing.

[0134] Through the above technical solution, this system can sense the changes in the physical characteristics of each absorbent core 200 to be conveyed in real time. The controller 500 uses the detection signal from the porosity sensor 501 to dynamically and adaptively adjust the air supply pressure and / or air supply flow rate of the first pneumatic control unit 502, thereby providing customized non-contact suspension control for each absorbent core 200. This intelligent feedback adjustment mechanism effectively solves the problem of unstable suspension gaps caused by differences in the porosity, thickness, or weight of the absorbent core 200, significantly reducing the risk of the absorbent core 200 being blown away, falling off, or damaged due to improper suspension force during transmission. By precisely controlling the suspension force, stable, reliable, and efficient non-contact transmission of the absorbent core 200 on the conveying roller 100 is ensured, greatly improving the system's adaptability, operational stability, and product yield.

[0135] In actual operation, the shape and softness of the absorbent core 200 may vary. Traditional soft actuators may have difficulty in accurately controlling the gripping force, gripping posture and the stiffness of the actuator itself when gripping, thus affecting the stability of the handling and the protection of the absorbent core 200.

[0136] In this regard, such as Figures 4 to 5 As shown, this application further proposes that the plurality of pneumatic soft actuators 402 are arranged in a star shape. The pneumatic soft actuators 402 are integrally molded from an elastomer material, wherein the elastomer material is silicone rubber. The second pneumatic control unit 503 is capable of switching the internal air pressure of the pneumatic soft actuators 402 to a low-pressure state of 0.1MPa to 0.3MPa or a high-pressure state of 0.6MPa to 0.8MPa.

[0137] Specifically, the multiple pneumatic soft actuators 402 are arranged in a star-shaped configuration, meaning that these actuators are evenly distributed around the gripping area of ​​the end effector 401 in a centrally symmetrical manner. This arrangement provides multi-point support and a uniform distribution of gripping force, which helps to stably grip irregular or easily deformable absorber cores 200. For example, a gripping point can be set in the central region of the end effector 401, and then three, four, or more pneumatic soft actuators 402 can be arranged radially outward around this central point at equal angular intervals. This distribution ensures that the actuators can apply forces from multiple directions when gripping absorber cores 200 of different sizes and shapes, improving the stability and adaptability of the gripping process.

[0138] Combination Figure 4 and 5As shown, the adaptive soft robot packaging system of the present invention includes a robot arm 400, an end effector 401, and a second pneumatic control unit 503. The end effector 401 is fixedly connected to the end of the robot arm 400, and the robot arm 400 can drive the end effector 401 to achieve multi-degree-of-freedom movement to meet the position requirements of finished product stacking, grasping, and packaging.

[0139] The end effector 401 includes multiple pneumatic soft actuators 402, which are integrally molded from silicone rubber, providing good elasticity and deformation capability. The multiple pneumatic soft actuators 402 are arranged in a star shape, allowing simultaneous gripping of a stack of rectangular sanitary products from multiple sides, ensuring stability during the gripping process. Each pneumatic soft actuator 402 has a sealed air chamber inside, which is connected to a second pneumatic control unit 503 via an air tube. The second pneumatic control unit 503 can adjust the stiffness of the pneumatic soft actuator 402 by regulating the air pressure inside the air chamber.

[0140] The pushing force of the soft actuator is approximately: .

[0141] .

[0142] In the formula: To push out output force. This is the output efficiency coefficient. This represents the equivalent area under pressure. This refers to the pressure in the actuator's air chamber. This is the equivalent stiffness of the actuator. For reference stiffness. This is the pressure-stiffness slope coefficient. For reference pressure.

[0143] Preferably, the pneumatic soft actuator 402 is integrally molded from an elastomer material, wherein the elastomer material is silicone rubber. Integral molding means that the entire structure of the actuator is formed through a single manufacturing process, reducing the connections between components and improving the overall integrity and reliability of the structure. Silicone rubber, as an elastomer material, possesses excellent biocompatibility, aging resistance, high and low temperature resistance, and good mechanical properties such as elasticity and toughness, making it very suitable for use in the field of soft robotics. It can ensure the stability and long lifespan of the actuator under repeated inflation and deflation cycles. For example, liquid silicone rubber can be injected into a pre-set mold through injection molding or 3D printing, and after curing, a soft actuator with a sealed air cavity and a specific external shape is formed. Integral molding avoids the problems of air leakage or insufficient strength that may result from assembling multiple components.

[0144] Combination Figure 6As shown, the second pneumatic control unit 503 is electrically connected to the controller 500. The controller 500 can send control commands to the second pneumatic control unit 503 according to different stages of the packaging process, thereby realizing the adaptive adjustment of the stiffness of the pneumatic soft actuator 402. The specific working process is as follows.

[0145] First, the approach and grasping phase (Mode A, Soft Mode). The controller 500 sends a low-pressure command to the second pneumatic control unit 503, which adjusts the air pressure inside the pneumatic soft actuator 402 to 0.1-0.3 MPa. At this point, the pneumatic soft actuator 402 is in a low-stiffness state, exhibiting good deformation capability. The robot arm 400 drives the end effector 401 to approach the stack of finished products. The pneumatic soft actuator 402 can naturally curl and conform to the irregular contours of the stack, achieving flexible grasping of the finished product stack and avoiding squeezing, wrinkling, or tearing.

[0146] Then, the packaging stage (Mode B, Fixed Mode) begins. The controller 500 sends a high-pressure command to the second pneumatic control unit 503, which adjusts the internal air pressure of the pneumatic soft actuator 402 to 0.6-0.8 MPa. At this point, the stiffness of the pneumatic soft actuator 402 is significantly increased, forming a stable support structure. The robot arm 400 moves the end effector 401 to the entrance of the packaging bag, and the pneumatic soft actuator 402 pushes the finished product stack to be stably and accurately loaded into the packaging bag.

[0147] The second pneumatic control unit 503 can switch the internal air pressure of the pneumatic soft actuator 402 to a low-pressure state of 0.1MPa to 0.3MPa or a high-pressure state of 0.6MPa to 0.8MPa. By precisely controlling the air pressure entering the sealed air chamber of the pneumatic soft actuator 402, the second pneumatic control unit 503 adjusts the actuator's gripping force, stiffness, and deformation. The low-pressure and high-pressure states provide different operating modes during gripping. The low-pressure state is typically used for gentle gripping or pre-positioning to avoid damage to the absorber core 200; the high-pressure state is used to provide a stronger gripping force or when higher stiffness is required to maintain stable handling. This hierarchical control allows the system to switch between flexible and rigid modes to adapt to different handling needs. For example, the second pneumatic control unit 503 may include one or more air sources, solenoid valves, pressure sensors, pressure regulating valves, and corresponding control circuitry. The controller 500 sends commands according to the preset grasping strategy or real-time feedback. The solenoid valve switches the air path according to the command, the pressure regulating valve precisely adjusts the output air pressure to the required low or high pressure range, and the pressure sensor monitors the internal air pressure of the actuator in real time, forming a closed-loop control.

[0148] Because the pneumatic soft actuator 402 has excellent flexibility, it will not cause serious injury if it accidentally comes into contact with operators or other equipment during operation, providing collaborative safety and significantly reducing safety risks on the production site. It may even eliminate the need for heavy-duty safety cages and simplify the layout of the production site. When it is necessary to switch product specifications, it is only necessary to adjust the air pressure parameters and movement trajectory of the pneumatic soft actuator 402 through the controller 500 to adapt to the stacking of finished products of different sizes. There is no need to disassemble or replace the end effector 401, which enables rapid switching of product specifications and shortens non-productive downtime.

[0149] Based on the above embodiments, in an optional embodiment of the present invention, such as Figure 1 As shown, the non-contact delivery and adaptive soft robot handling system for hygiene products further includes a drive motor and a conveyor belt 103. The drive motor is connected to the conveyor roller 100. The conveyor belt 103 is located at the junction of the conveyor roller 100 to receive the absorbent core 200 released by the pneumatic gripping unit 102.

[0150] Obviously, the above detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to describe preferred embodiments, not all embodiments, and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Based on the embodiments of the invention, any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art to all other embodiments obtained without inventive effort are within the scope of protection of the invention.

Claims

1. A non-contact delivery and adaptive soft robot handling system for hygiene products, characterized in that, It includes a conveyor roller, multiple pneumatic gripping units, a first pneumatic control unit, a robotic arm, an end effector, a second pneumatic control unit, and a controller; Multiple pneumatic gripping units are spaced apart circumferentially along the conveyor roller; the conveyor roller is rotatable to drive the pneumatic gripping units to move cyclically along the conveying path. Each aerodynamic gripping unit includes a nozzle body; the nozzle body is provided with a central air supply inlet, a radial exhaust outlet and a planar clamping surface; the central air supply inlet and the radial exhaust outlet are connected through an internal air passage of the nozzle body; the planar clamping surface is located on the side of the nozzle body facing the absorber core to be conveyed; the radial exhaust outlet is distributed circumferentially along the planar clamping surface and the spray direction is radially outward along the planar clamping surface. The first pneumatic control unit is connected to the central air supply inlet and supplies gas to the nozzle body so that the airflow discharged from the radial discharge outlet flows along the planar clamping surface and forms a suspension gap between the planar clamping surface and the absorber core. The end effector is engaged at the end of the robotic arm; the end effector includes multiple pneumatic soft actuators, which are spaced apart around the grasping area, and each pneumatic soft actuator has a sealed air chamber inside. The second pneumatic control unit is connected to each sealed air chamber to regulate the internal air pressure of each pneumatic soft actuator. The controller is electrically connected to the first pneumatic control unit, the second pneumatic control unit, and the robot arm, respectively.

2. The non-contact delivery and adaptive soft robot handling system for hygiene products according to claim 1, characterized in that, It also includes a porosity sensor; the porosity sensor is set at a detection station before the absorption core enters the aerodynamic gripping unit and is electrically connected to the controller; the controller adjusts the air supply pressure and / or air supply flow of the first pneumatic control unit according to the detection signal of the porosity sensor.

3. The non-contact transfer and adaptive soft robot handling system for hygiene products according to claim 2, characterized in that, The porosity sensor includes one or more of a differential pressure sensor, a flow sensor, and a distance sensor; When a differential pressure sensor is used, the adsorption force is controlled and compensated by pressure commands; ； In the formula: This is a gas supply pressure command; Used as a reference for gas supply pressure; Porosity feedback gain; Equivalent porosity; For reference equivalent porosity; For gap feedback gain; For target hovering gap; This refers to the actual hovering clearance; ； ； ； In the formula, To simplify the parameters of the formula; For structural correction factors; The equivalent permeability is calculated based on sensor detection. The equivalent feature size of the channel; To detect the dynamic viscosity of gases; To detect the equivalent thickness of the substrate at the detection location; To detect the volumetric flow rate of airflow through the substrate; To effectively detect the area; To detect pressure difference.

4. The non-contact delivery and adaptive soft robot handling system for hygiene products according to claim 1, characterized in that, The outer periphery of the planar clamping surface is provided with a Coanda edge; the Coanda edge is formed by a smooth transition from the planar clamping surface to the outside and is located outside the radial discharge outlet.

5. The non-contact delivery and adaptive soft robot handling system for hygiene products according to claim 4, characterized in that, The Coanda edge is a ring-shaped convex curved surface structure that extends continuously along the circumference of the plane clamping surface; the cross-section of the Coanda edge is arc-shaped or arc-shaped. The expression for reducing edge impact at the Coanda edge is: ； In the formula: To set the edge impact pressure after setting the Coanda edge; This represents the edge impact pressure when no setting is provided. Represents the natural exponential function; The wall-attached deflection attenuation coefficient; The radius of curvature of the Coanda edge; This represents the actual hovering clearance.

6. The non-contact delivery and adaptive soft robot handling system for hygiene products according to claim 1, characterized in that, The planar clamping surface is provided with a plurality of elastic friction elements; the plurality of elastic friction elements are spaced apart on the planar clamping surface, and the top surface height of each elastic friction element is lower than the nominal hovering gap formed by the absorption core below the planar clamping surface under the design working conditions; ； ； In the formula: This refers to the nominal hovering clearance. For the average time window; The starting time; This refers to the actual hovering clearance; It is a time variable; express The differential; This is the pressure correction factor; air density; This represents the total radial discharge flow rate. The effective negative pressure area; The characteristic radius; For the quality of the absorber core; This is the acceleration due to gravity.

7. The non-contact delivery and adaptive soft robot handling system for hygiene products according to claim 6, characterized in that, The elastic friction element is a silicone bump; ； In the formula, The height of the top surface of the friction element relative to the clamping surface; To allow for a margin of safety.

8. A non-contact delivery and adaptive soft robot handling system for hygiene products according to any one of claims 1 to 7, characterized in that, Multiple pneumatic soft actuators are arranged in a star shape; The pneumatic soft actuator is integrally molded from an elastomer material; wherein, the elastomer material is silicone rubber; The second pneumatic control unit can switch the internal air pressure of the pneumatic soft actuator to a low pressure state of 0.1MPa to 0.3MPa or a high pressure state of 0.6MPa to 0.8MPa; The pushing force of the pneumatic soft actuator is: ； ； In the formula: To push out output force; This refers to the output efficiency coefficient; This is the equivalent area under pressure. The actuator air chamber pressure; The equivalent stiffness of the actuator; For reference stiffness; This is the pressure-stiffness slope coefficient; For reference pressure.

9. A non-contact delivery and adaptive soft robot handling system for hygiene products according to any one of claims 1 to 7, characterized in that, The central air supply inlet is located at the axial center of the nozzle body; the radial exhaust outlet is located at the bottom of the nozzle body and is distributed in a ring around the central air supply inlet.

10. A non-contact delivery and adaptive soft robot handling system for hygiene products according to any one of claims 1 to 7, characterized in that, It also includes a drive motor and a conveyor belt; the drive motor is connected to the conveyor roller; the conveyor belt is located at the junction of the conveyor roller to receive the absorbent core released by the pneumatic gripping unit.

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