Suction tool based on Bernoulli suction cup

Abstract

The utility model relates to a suction tool based on a Bernoulli suction cup. The suction tool is provided with a long-strip-shaped first mechanical arm. At least one Bernoulli suction cup is arranged on the bottom surface of the first mechanical arm; a gas inlet pipe is arranged on the left side of the first mechanical arm and used for inputting high-speed gas; a first air inlet hole communicated with the air inlet pipe is formed in the first mechanical arm; an air inlet hole of the Bernoulli suction cup of the first mechanical arm communicates with the first air inlet hole. The non-contact adsorption and release device can realize non-contact adsorption and release of sheet-shaped objects in a narrow space.

Description

Technical Field

[0001] The utility model relates to the technical field of vacuum suction devices, in particular to a suction device based on a Bernoulli suction cup. Background Art

[0002] In the production process of thin sheet objects such as PCB boards and wafers, racks are usually needed for storage or transportation between different process flows. Figure 1 , Figure 2 As shown, a multi-layer support partition 2' is provided in the placement rack 1', and a PCB board 3' and a wafer 4' are placed on the support partition 2'. However, due to the presence of electronic components on the surface of the PCB board 3', the outer surface is uneven, so that the traditional vacuum suction cup cannot form an effective adsorption surface and cannot be used; and the outer surface of the wafer 4' is easily contaminated by the vacuum suction cup and cannot be used. This limits the application of the vacuum suction cup.

[0003] The Bernoulli suction cup is a device that works on the Bernoulli principle. It generates high-speed airflow on the surface to reduce the pressure on the surface, thereby achieving the suction and release of objects. The Bernoulli suction cup does not require high surface flatness of the object, and does not directly contact the surface of the object, thus avoiding damage and contamination to the object.

[0004] Therefore, how to use the Bernoulli suction cup to provide a suction device that can accurately suck or release objects such as PCB boards 3' and wafers 4' on the support partition 2' in the narrow placement rack 1' is a problem that needs to be solved urgently. Utility Model Content

[0005] To this end, the utility model provides a suction device based on a Bernoulli suction cup, which mainly solves the technical problem of sucking or releasing a thin sheet object in a relatively small space based on the Bernoulli suction cup.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A suction device based on a Bernoulli suction cup comprises a first elongated robotic arm; at least one Bernoulli suction cup is arranged on the bottom surface of the first robotic arm; an air inlet pipe is arranged on the left side of the first robotic arm for inputting high-speed gas; a first air inlet hole connected to the air inlet pipe is arranged inside the first robotic arm; the air inlet hole of the Bernoulli suction cup of the first robotic arm is connected to the first air inlet hole.

[0008] Preferably, it also includes a second robotic arm; the left end of the second robotic arm is connected to the left end of the first robotic arm, and the connection body thereof is U-shaped; the air inlet pipe is arranged in the connection area between the first robotic arm and the second robotic arm; at least one Bernoulli suction cup is arranged on the bottom surface of the second robotic arm; a second air inlet hole connected to the air inlet pipe is arranged in the second robotic arm; the air inlet hole of the Bernoulli suction cup of the second robotic arm is connected to the second air inlet hole.

[0009] Optionally, the Bernoulli suction cup includes a fixed seat and a cylindrical suction cup body; a first hole is formed on the top surface of the fixed seat, and a second hole connected to the first hole is formed on the bottom surface; the aperture of the second hole is larger than the aperture of the first hole; a cylindrical airflow injection part is formed on the top surface of the suction cup body; the outer diameter of the suction cup body is adapted to the aperture of the second hole, and the suction cup body can be embedded in the second hole; the outer diameter of the airflow injection part is adapted to the aperture of the first hole, the airflow injection part can be embedded in the first hole, and the upper part of the airflow injection part extends out of the first hole; an air inlet hole is formed on the bottom surface of the suction cup body; a plurality of airflow injection holes are formed on the side wall of the extended area of ​​the airflow injection part along a circumferential array; the plurality of airflow injection holes are all connected to the air inlet hole; the fixed seat is fixedly arranged on the bottom surface of the first robotic arm or the second robotic arm, and the bottom surface of the fixed seat fits the bottom surface of the first robotic arm or the second robotic arm.

[0010] Preferably, a sealing ring is provided between the bottom surface of the suction cup body at the periphery of the air inlet hole and the first mechanical arm or the second mechanical arm.

[0011] Preferably, an annular sealing ring groove is provided on the bottom surface of the suction cup body at the periphery of the air inlet hole; and the sealing ring is located in the sealing ring groove.

[0012] Preferably, a truncated cone-shaped guide groove is provided on the top surface of the fixing seat; and the first hole is located at the center of the bottom of the guide groove.

[0013] Preferably, the top surface of the airflow injection portion is located below the top surface of the fixing seat.

[0014] Optionally, a flange is provided on a side of the air inlet pipe away from the first robotic arm.

[0015] The utility model has at least the following beneficial effects:

[0016] The invention is provided with a long first mechanical arm, and a Bernoulli suction cup is provided on the bottom surface of the first mechanical arm. The long first mechanical arm can be extended into a narrow space, and the Bernoulli suction cup grabs and releases the sheet-like object.

[0017] It can be seen that the gripper based on the Bernoulli suction cup of the utility model can realize contactless adsorption and release of thin sheet objects in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly explain the prior art and the present invention, the following briefly introduces the drawings required for describing the prior art and the present invention. Obviously, the drawings described below are only exemplary, and for ordinary technicians in this field, other drawings can be derived from the provided drawings without creative work.

[0019] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportion or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0020] Figure 1 It is a schematic diagram of a PCB board placement rack in the prior art;

[0021] Figure 2 It is a schematic diagram of a wafer placement rack in the prior art;

[0022] Figure 3 This is a schematic diagram of the structure of a suction device based on a Bernoulli suction cup according to the utility model;

[0023] Figure 4 The utility model is an attachment of a suction device based on a Bernoulli suction cup. Figure 3 Schematic diagram of the upward direction;

[0024] Figure 5 This is a bottom perspective view of a suction device based on a Bernoulli suction cup according to the utility model;

[0025] Figure 6 It is a structural schematic diagram of a Bernoulli suction cup of a suction device based on the Bernoulli suction cup of the utility model;

[0026] Figure 7 The utility model is an attachment of a suction device based on a Bernoulli suction cup. Figure 6 Schematic diagram of the upward direction;

[0027] Figure 8 It is a front cross-sectional view of a Bernoulli suction cup of a suction device based on the Bernoulli suction cup of the utility model;

[0028] Fig. 9 This is a schematic structural diagram of a fixing seat of a suction device based on a Bernoulli suction cup according to the utility model;

[0029] Fig.10 The utility model is an attachment of a suction device based on a Bernoulli suction cup. Fig. 9Schematic diagram of the upward direction;

[0030] Fig.11 This is a schematic structural diagram of a suction cup body of a suction device based on a Bernoulli suction cup according to the utility model;

[0031] Fig.12 The utility model is an attachment of a suction device based on a Bernoulli suction cup. Fig.11 Schematic diagram of the upward direction;

[0032] Description of reference numerals:

[0033] 1. Fixed seat; 101. Guide groove; 102. First hole; 103. Second hole; 2. Suction cup body; 201. Air flow injection part; 202. Air flow injection hole; 203. Air inlet hole; 204. Sealing ring groove; 3. Sealing ring; 4. First mechanical arm; 5. Second mechanical arm; 6. Bernoulli suction cup; 7. Air inlet pipe; 8. Flange; 9. First air inlet hole; 10. Second air inlet hole. DETAILED DESCRIPTION

[0034] The present application is further described below in detail through specific embodiments in conjunction with the accompanying drawings.

[0035] In the description of this application: unless otherwise specified, the meaning of "plurality" is two or more. The terms "first", "second", "third", etc. in this application are intended to distinguish the objects referred to, and do not have special meanings in terms of technical connotations (for example, they should not be understood as emphasizing the importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0036] The terms such as "upper", "lower", "left", "right", "middle", etc. used in this application are usually used to facilitate intuitive understanding by comparing with the accompanying drawings, and are not absolute limitations on the positional relationship in the actual product. Without departing from the technical concept disclosed in this application, changes in these relative positional relationships should also be regarded as the scope of this application.

[0037] The utility model is a kind of suction device based on Bernoulli suction cup, such as Figures 3 to 5 As shown, a long strip-shaped first mechanical arm 4 is provided, and at least one Bernoulli suction cup 6 is provided on the bottom surface of the first mechanical arm 4. In the embodiment of the present application, there are two Bernoulli suction cups 6. An air inlet pipe 7 is provided on the left side of the first mechanical arm 4 for inputting high-speed gas. A first air inlet hole 9 connected to the air inlet pipe 7 is provided in the first mechanical arm 4, and the air inlet hole of the Bernoulli suction cup 6 of the first mechanical arm 4 is connected to the first air inlet hole 9. In this way, when in use, the long strip-shaped first mechanical arm 4 can be extended into a narrow space, and the Bernoulli suction cup 6 grabs and releases the thin sheet-like object, thereby realizing non-contact suction or release of the thin sheet-like object in a narrow space.

[0038] Preferably, in order to stabilize the suction of objects and avoid dropping of parts, a second robotic arm 5 is also provided, and the left end of the second robotic arm 5 is connected to the left end of the first robotic arm 4, and the connection body thereof is U-shaped. An air inlet pipe 7 is provided in the connection area between the first robotic arm 4 and the second robotic arm 5, and at least one Bernoulli suction cup 6 is provided on the bottom surface of the second robotic arm 5, and two are provided in the embodiment of the present application. A second air inlet hole 10 connected to the air inlet pipe 7 is provided in the second robotic arm 5, and the air inlet hole of the Bernoulli suction cup 6 of the second robotic arm 5 is connected to the second air inlet hole 10.

[0039] Optionally, the embodiment of the present application provides a preferred structure of the Bernoulli suction cup 6, such as Figures 6 to 12 As shown, the Bernoulli suction cup 6 includes a fixing seat 1 and a cylindrical suction cup body 2. The fixing seat 1 has a first hole 102 on the top surface, and a second hole 103 connected to the first hole 102 on the bottom surface. The second hole 103 has a larger aperture than the first hole 102. The suction cup body 2 has a cylindrical airflow jet 201 on the top surface. The outer diameter of the suction cup body 2 matches the aperture of the second hole 103. The suction cup body 2 can be embedded in the second hole 103. The outer diameter of the airflow jet 201 matches the aperture of the first hole 102. The airflow jet 201 can be embedded in the first hole 102, and the upper part of the airflow jet 201 extends out of the first hole 102. In addition to the hole 102, an air inlet hole 203 is provided on the bottom surface of the suction cup body 2, and a plurality of air flow injection holes 202 are provided on the side wall of the extended area of ​​the air flow injection portion 201 along a circumferential array, and the plurality of air flow injection holes 202 are all connected with the air inlet hole 203. During installation, the bottom surface of the fixing seat 1 fits with the bottom surface of the first robotic arm 4 or the second robotic arm 5, and the fixing seat 1 is fixedly installed on the bottom surface of the first robotic arm 4 or the second robotic arm 5. Since the aperture of the second hole 103 is larger than the aperture of the first hole 102, the suction cup body 2 is stuck in the fixing seat 1, and has a simple structure, is easy to install, and can be made very thin, and is more suitable for use in narrow spaces.

[0040] Preferably, in order to improve the sealing performance, a sealing ring 3 is provided between the bottom surface of the suction cup body 2 and the first mechanical arm 4 or the second mechanical arm 5 at the periphery of the air inlet hole 203 .

[0041] Preferably, in order to facilitate the positioning of the sealing ring 3 during installation, an annular sealing ring groove 204 is provided on the bottom surface of the suction cup body 2 at the periphery of the air inlet hole 203 , and the sealing ring 3 is located in the sealing ring groove 204 .

[0042] Preferably, in order to enhance the adsorption force, a truncated cone-shaped guide groove 101 is provided on the top surface of the fixing seat 1 , and the first hole 102 is located at the center of the bottom of the guide groove 101 .

[0043] Preferably, in order to avoid the influence of the airflow injection portion 201 on the adsorption, the top surface of the airflow injection portion 201 is located below the top surface of the fixing seat 1 .

[0044] Optionally, in order to facilitate the installation of the gripper of the present application on the robot arm, a flange 8 is provided on the side of the air inlet pipe 7 away from the first robot arm 4 .

[0045] The above is a relatively specific and detailed description of the present application through general description and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional adjustments or further innovations can be made to these specific embodiments; however, as long as they do not deviate from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the scope of protection of the claims of the present application.

Claims

1. A gripper based on a Bernoulli suction cup, characterized in that: The invention comprises a first elongated mechanical arm (4); at least one Bernoulli suction cup (6) is provided on the bottom surface of the first mechanical arm (4); an air inlet pipe (7) is provided on the left side of the first mechanical arm (4) for inputting high-speed gas; a first air inlet hole (9) connected to the air inlet pipe (7) is provided inside the first mechanical arm (4); the air inlet hole of the Bernoulli suction cup (6) of the first mechanical arm (4) is connected to the first air inlet hole (9); the Bernoulli suction cup (6) comprises a fixing seat (1) and a cylindrical suction cup body (2); a first hole (102) is provided on the top surface of the fixing seat (1), and a second hole (103) connected to the first hole (102) is provided on the bottom surface; the aperture of the second hole (103) is larger than the aperture of the first hole (102); a cylindrical airflow injection portion (201) is provided on the top surface of the suction cup body (2); the suction cup body (2) The outer diameter is adapted to the aperture of the second hole (103), and the suction cup body (2) can be embedded in the second hole (103); the outer diameter of the airflow injection part (201) is adapted to the aperture of the first hole (102), and the airflow injection part (201) can be embedded in the first hole (102), and the upper part of the airflow injection part (201) extends out of the first hole (102); an air inlet hole (203) is provided on the bottom surface of the suction cup body (2); a plurality of airflow injection holes (202) are provided along a circumferential array on the side wall of the extended area of ​​the airflow injection part (201); the plurality of airflow injection holes (202) are all connected to the air inlet hole (203); the fixing seat (1) is fixedly arranged on the bottom surface of the first mechanical arm (4) or the second mechanical arm (5), and the bottom surface of the fixing seat (1) is in contact with the bottom surface of the first mechanical arm (4) or the second mechanical arm (5).

2. A suction device based on a Bernoulli suction cup according to claim 1, characterized in that: The invention also comprises a second mechanical arm (5); the left end of the second mechanical arm (5) is connected to the left end of the first mechanical arm (4), and the connection body thereof is U-shaped; the air inlet pipe (7) is arranged in the connection area between the first mechanical arm (4) and the second mechanical arm (5); at least one Bernoulli suction cup (6) is arranged on the bottom surface of the second mechanical arm (5); a second air inlet hole (10) connected to the air inlet pipe (7) is arranged in the second mechanical arm (5); and the air inlet hole of the Bernoulli suction cup (6) of the second mechanical arm (5) is connected to the second air inlet hole (10).

3. A suction device based on a Bernoulli suction cup according to claim 2, characterized in that: A sealing ring (3) is provided between the bottom surface of the suction cup body (2) at the periphery of the air inlet hole (203) and the first mechanical arm (4) or the second mechanical arm (5).

4. A suction device based on a Bernoulli suction cup according to claim 3, characterized in that: An annular sealing ring groove (204) is provided on the bottom surface of the suction cup body (2) at the periphery of the air inlet hole (203); the sealing ring (3) is located in the sealing ring groove (204).

5. A gripper based on a Bernoulli suction cup according to any one of claims 1 to 4, characterized in that: A truncated cone-shaped guide groove (101) is provided on the top surface of the fixing seat (1); the first hole (102) is located at the center of the bottom of the guide groove (101).

6. A suction device based on a Bernoulli suction cup according to claim 5, characterized in that: The top surface of the airflow injection portion (201) is located below the top surface of the fixing seat (1).

7. A suction device based on a Bernoulli suction cup according to claim 1 or 2, characterized in that: A flange (8) is provided on the side of the air inlet pipe (7) away from the first mechanical arm (4).

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