基于气流黏性牵引原理的无接触输运建模仿真与试验研究

Modeling,Simulation and Experimental Research on Contactless Transport Using a Viscous Traction Principle

目前众多行业需要使用无接触的方式输运清洁、易损的产品。介绍了一种完全无接触的气浮输运平台,通过在物体下方产生气膜及可控气流实现牵引输送。建立了间隙内气流简化模型并针对黏性力进行了理论和实验研究,结果表明,气流在平台表面凹槽区和边缘区域内提供牵引力,且在一定流量条件下黏性力随气膜高度增加而降低。提出了一种基于有效驱动单元列数作为被控量的控制方法,设计PID控制器并对物体在一维方向上的输运与定位进行研究,结果验证了理论模型和控制方法的有效性。

Many industries require contactless transport of delicate or clean products. In this study, a contactless air film conveyor for flat objects is introduced. The object is supported by a thin air film and transported by viscous traction which is generated by controlled airflow underneath the object. A simplified model is established to charac-terize the airflow in the gap, and theoretical and experimental studies are conducted on the viscous force. The re- suits show that the traction force is the resultant of the actuating force in the pocket and side areas, and it decreases as the increase of the gap thickness under a given flow rate. A control method based on the number of active actua- ting eolunm is proposed. Investigations are conducted using a PID controller for one dimension position control. The results verify the effectiveness of the theoretical modeling and the control method.