Research On Performance Improvement Of Concentric Double Vortex Non-contact Vacuum Chuc

Pneumatic control technology is playing a more and more important role in intelligent manufacturing production line.For the processing requirements of high-end manufacturing and clean manufacturing,the traditional vacuum contact handling method was very easy to scratch or pollute the handled workpiece,so the non-contact handling method came into being.Pneumatic vortex non-contact vacuum gripper is being used more and more widely because of its simple structure,convenient use and low energy consumption.Compared with single-vortex non-contact vacuum gripper,concentric double-vortex non-contact vacuum gripper can theoretically reduce the circumferential rotation of the workpiece.Based on the previous research work,the structure optimization and control of the concentric double-vortex vacuum gripper were studied in order to reduce the oscillation of the workpiece in the dynamic suction process and improve the comprehensive performance of the gripper.The specific work is as follows:Firstly,the mathematical model of the pressure field on the workpiece surface when the concentric double-vortex non-contact gripper works was established,the structural parameters that have a great influence on the suction force of the gripper were analyzed,and the suction force and flow characteristics of the gripper were numerically simulated and experimentally verified.The result showed that the simulation result was in good agreement with the experimental result,it provided a theoretical foundation for the further optimization.Secondly,the key structural parameters affecting the maximum suction force of the gripper and their influence laws were studied,and the structural parameters of the gripper were optimized;aim at restrain the circumferential rotation of the workpiece,the relationship between the air supply pressure of the inner and outer swirl chambers of the concentric doublevortex gripper was studied,and the air supply pressure throttling scheme of the outer swirl chamber was proposed to realize the single inlet air supply of the double-vortex gripper.Based on the fuzzy self-tuning PID control algorithm,the control system of concentric double-vortex non-contact vacuum gripper was designed.The real-time control of workpiece position was realized by controlling the air supply pressure of the gripper.Finally,the experimental prototype of the optimized concentric double-vortex non-contact vacuum gripper was manufactured and tested.The result showed that under the same working conditions,the maximum suction force of the optimized concentric double-vortex gripper was about 76% higher than that before optimization;when gap thickness less than 0.3mm,compared with the traditional single-vortex gripper,the circumferential rotation moment of the workpiece was reduced by nearly 90%,which basically inhibits the circumferential rotation of the workpiece;the proposed fuzzy PID control strategy could effectively reduce the position overshoot and oscillation of the workpiece,improve the stability of the workpiece,prevent the collision between the workpiece and the gripper.