基于伯努利吸盘抓取经编鞋面稳态过程的研究

Research on the steady-state process of grabbing warp knit uppers based on Bernoulli gripper

针对经编鞋面透气多孔导致伯努利吸盘无法稳定抓取的问题,将经编鞋面简化成多孔介质模型,建立了伯努利吸盘抓取经编鞋面稳态过程的数学模型;利用Fluent软件对伯努利吸盘抓取经编鞋面稳态过程进行了数值模拟分析,并对伯努利吸盘抓取经编鞋面稳态过程进行了试验研究。结果表明:吸附力与供气压力呈正比例关系、与吸盘和经编鞋面的间距呈指数函数关系;试验获得伯努利吸盘抓取经编鞋面稳态下的最优状态,即在经编鞋面重力一定条件下,当间距为0.8 mm、吸附力等于经编鞋面重力时,供气压力最优。

To address the problem that Bernoulli gripper cannot grab warp knit uppers stably due to their breathable porosity,the warp knit uppers were simplified into a porous media model,and a mathematical model of the steady-state process of Bernoulli gripper grabbing warp knit uppers was established.The steady-state process of Bernoulli gripper grabbing warp knit uppers was numerically simulated by Fluent software and experimentally investigated.The results show that the suction force is proportional to the air supply pressure and exponential to the distance between the suction cup and the warp knit upper.The optimal state of Bernoulli gripper for grabbing warp knit uppers in steady state is obtained,i.e.,the air supply pressure is optimal when the distance is 0.8 mm and the suction force is equal to the gravity of the warp knit upper under the certain condition of the gravity of the warp knit upper.