| The transportation of precision components on traditional production lines often adopts some contact transportation methods such as rollers,vacuum chucks or conveyor belts.These methods are easy to cause surface scratches,pollution and sideslip problems,which cannot meet the requirements of high-precision and high-quality production.The manufacturing and production of these precision devices or cleaning articles,such as silicon wafers,food and medicine,etc.,require contactless transportation.Airflow transportation is often used as a contactless transportation method due to its clean,non-polluting,non-magnetic,and safe characteristics.There are many airflow throttling methods.This thesis uses the inclined air jet method to design an air conveyor system.The platform is composed of multiple modules,which can be adapted to different transportation paths.The main research contents of this thesis are as follows:Firstly,the conveyor structure is designed,and the main work is concentrated on the internal structure design of a single module.The working principle of the conveyor is explained.From the perspective of saving space,reducing energy consumption and reconfigurable transportation routes,the control components,gas circuits and transportation modules are integrated,and the surface of a single module is unitized to realize one-dimensional or two-dimensional transportation.The switching of the reversible airflow of the cells is realized according to whether the internal control components of the cells have voltage excitation,and the component forces are offset or superimposed to achieve driving forces of different directions and different sizes.Secondly,the system is theoretically modeled,and the relationship between the magnetic field electromagnetic force and its structural parameters is analyzed,which sets up the foundation for the subsequent simulation and experiment to determine the structural parameters to obtain the best response time parameters.According to the international standard ISO6358,the flow characteristics of the air circuit function module are analyzed to provide a theoretical basis for the analysis of the air cavity inflation process.Finally,according to the air jet model and the viscous force formula,the mathematical model of the actuating force of the airflow surface is determined by comparing the inertial force and the viscous force.Thirdly,the theoretical analysis results are verified through simulation and experiment.Use Maxwell software to analyze the electromagnetic force and electromagnetic response process,and determine the final coil ampere-turns and air gap length through the electromagnetic force experiment and dynamic response experiment,and obtain the response time and reset time of the electromagnetic mechanism.The relationship between the pressure of the gas chamber and the time is simulated by the Simulink,and the flow characteristics of the experimental actuating cell are obtained through the test.Finally,the pressure distribution and actuating force of the airflow module are simulated by using FLUENT software,and verify it through experiments to determine the accuracy of the built model.Finally,the control strategy of the system is analyzed.The working principles of digital PID and fuzzy PID are introduced,and the control performances of the two control methods are compared in the conveyor system.Then Simulink is used to build a control system model for simulation analysis.In order to visualize the simulation results of the conveyor’s transportation process,C# is used to write a program simulation interface.In order to determine the effectiveness of the control method,two objects of different masses are compared and analyzed. |
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