同心双涡旋非接触真空吸盘防旋研究

为解决传统单涡旋吸盘由于内部旋转流场的作用引起被吸工件旋转从而导致非接触吸取失效的问题，提出一种同心双涡旋非接触真空吸盘技术方案，其内、外两个涡旋气腔结构同心但气流旋向相反。内涡旋产生真空提供吸力，外涡旋用于平衡内涡旋对工件产生的摩擦转矩。研究该型吸盘工作参数对被吸工件的摩擦转矩及吸力的作用规律，仿真结果表明：同样的供气压力下，外涡旋气流对被吸工件产生的摩擦转矩略大于内涡旋气流，表明可通过适当减小外涡旋腔的供气压力以达到防旋效果；同等供气流量下，双涡旋吸盘的吸力略小于单涡旋吸盘。分析了双涡旋吸盘关键结构参数对吸力的影响规律并进行了正交实验，得到最优结构参数组。加工制作双涡旋吸盘样机并进行了试验研究，结果表明：同等试验条件下，同心双涡旋非接触真空吸盘的吸力与传统的单涡旋吸盘的吸力基本相当，被吸工件所受的摩擦转矩可减小90%左右，很好地抑制了被吸工件的旋转，提高了真空吸取搬运的稳定性和可靠性。

Rotation prevention of concentric double-vortex non-contact gripper

To solve the problem that the single-vortex gripper is easy to cause the rotation of workpiece due to the internal rotating flow field, resulting in the failure of non-contact handling, a concentric double-vortex non-contact vacuum gripper scheme was proposed. The structures of the inner and outer vortex chambers are concentric and the flow directions are opposite. The inner vortex generates a vacuum to provide suction force, and the reverse airflow of the outer vortex is used to balance the friction torque of the inner vortex on the workpiece. The effects of the working parameters of the gripper on the friction torque and suction force on the workpiece were studied. Simulation results show that the friction torque generated by the outer vortex on the workpiece is slightly greater than that of the inner vortex under the same air supply pressure, suggesting that the rotation prevention can be achieved by appropriately reducing the air supply pressure of the outer vortex chamber. Under the same air supply flow, the suction force of double-vortex gripper is slightly less than that of single-vortex gripper. The influence of the structural parameters of the double vortex gripper on the suction force was analyzed, and the orthogonal experiment was carried out to obtain the optimal structural parameter. The prototype of double-vortex gripper was tested, the results show that under the same conditions, the suction force of concentric double-vortex non-contact vacuum gripper is basically equivalent to that of single-vortex gripper, and the torque of the workpiece is reduced by about 90%, that improves the stability of the workpiece and the reliability of handling.