Matrix air flow transport structure and method

Abstract

The application belongs to the field of substrate glass manufacturing, and discloses a matrix airflow transportation structure and method. The structure comprises a conveying device, a first protective wall, a second protective wall, a first airflow hole array, a second airflow hole array, a high-pressure air control station, a sensor and a controller. The first protective wall and the second protective wall are symmetrically arranged on both sides of the conveying device, the first airflow hole array is arranged on the wall surface of the first protective wall facing the glass, the second airflow hole array is arranged on the wall surface of the second protective wall facing the glass, the high-pressure air control station is communicated with each independent air hole through an independent air path, the sensor is used to obtain glass posture data, and the controller is connected with the sensor and the high-pressure air control station and is configured to control the high-pressure air control station to adjust the air outlet of each independent air hole according to the posture data to dynamically stabilize the glass transmission. The structure replaces mechanical limiting in a non-contact manner and realizes dynamic stable transmission of the glass.

Description

Technical Field

[0001] This application relates to the field of substrate glass manufacturing, specifically to a matrix airflow transport structure and method. Background Technology

[0002] In the production process of large-size substrate glass (such as liquid crystal display glass and photovoltaic glass of G8.5 and above generations), the stability of glass plate transport is a key factor affecting product yield. This type of glass is usually less than 0.5mm thick and has a huge area. During transport, it is very easy to become unstable due to its own weight, warping deformation caused by thermal stress, and external environmental interference.

[0003] Currently, common methods for transporting glass sheets mainly include conveyor belts or roller conveyors, often supplemented by mechanical limiting devices (such as guide wheels and baffles) to prevent glass deviation. However, direct contact between mechanical limiting devices and the glass edges can easily cause micro-cracks or surface scratches. These microscopic damages can significantly reduce the strength of the finished product in subsequent processes. Furthermore, environmental airflow disturbances within the production workshop and vibrations from the conveying equipment itself can be transmitted to the glass sheets, causing them to sway or drift during transport. Mechanical limiting devices are passive protections and cannot actively resist disturbances; they often only provide a stopping effect after the glass has already deviated significantly, increasing the risk of collision.

[0004] To address the aforementioned issues, some existing technologies attempt to employ an air-floating transport method. This involves placing fixed air-blowing devices on both sides of the transport device, using airflow to create an air cushion to support the glass. However, this fixed airflow pattern cannot dynamically adjust according to the real-time posture of the glass. When the glass plate shifts position due to warping or external disturbances, the fixed airflow cannot provide effective corrective force and may even exacerbate the shift due to uneven airflow distribution, making it difficult to meet the requirements of high-precision non-contact transport for large-size, ultra-thin glass. Summary of the Invention

[0005] The purpose of this invention is to provide a matrix airflow transport structure and method to overcome the technical problem of damage to large-size substrate glass caused by mechanical contact during transport in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a matrix airflow transport structure, comprising: A conveying device used to carry and transport glass; The first and second protective walls are symmetrically arranged on both sides of the conveying device; A first airflow hole array is disposed on the wall surface of the first protective wall facing the glass, and includes multiple first independent air holes; The second airflow hole array is disposed on the wall surface of the second protective wall facing the glass, and includes multiple second independent air holes; The high-pressure air control station is connected to each first independent air port and each second independent air port via independent air passages; Sensors are used to acquire the attitude data of the glass; The controller, electrically connected to the sensor and the high-pressure air control station, is configured to control the high-pressure air control station to adjust the air output of each independent air vent based on the glass attitude data detected by the sensor, so as to dynamically stabilize the transmission of the glass.

[0007] According to one embodiment of the present invention, the first protective wall is an air blowing wall, and the first independent air hole can output positive pressure airflow; the second protective wall is an air return wall, and the second independent air hole can switch to output positive pressure airflow or negative pressure airflow.

[0008] According to one embodiment of the present invention, the sensor includes a plurality of multi-axis laser displacement sensors, which are disposed on the first protective wall and / or the second protective wall and are arranged at intervals along the transmission direction of the conveying device, and their detection areas cover the edges or corners of the glass.

[0009] According to one embodiment of the present invention, the sensor further includes a vibration acceleration sensor disposed on the conveying device.

[0010] According to one embodiment of the present invention, the controller employs a Kalman filter algorithm to predict the motion trajectory of the glass within a future time window based on historical attitude data and current attitude data acquired by the sensor.

[0011] According to one embodiment of the present invention, the controller employs a PID control algorithm to calculate the target air output parameters of each independent air vent based on the predicted motion trajectory.

[0012] According to one embodiment of the present invention, a plurality of independent air holes in the first airflow hole array and / or the second airflow hole array are divided into several groups, and the controller is configured to synchronously control the independent air holes in each group.

[0013] According to one embodiment of the present invention, the air outlet direction of the first independent air hole and / or the second independent air hole is adjustable.

[0014] According to one embodiment of the present invention, the conveying device is a conveyor belt, roller conveyor, or air flotation conveyor.

[0015] The present invention also provides a matrix airflow transport method, applied to the matrix airflow transport structure of the above embodiments, comprising the following steps: S1. Real-time acquisition of glass attitude data via sensors; S2. Based on the attitude data, the controller predicts the motion trajectory of the glass within a future time window; S3. The controller calculates the target air output parameters of each independent air hole in the first airflow hole array and the second airflow hole array based on the predicted motion trajectory. S4. The high-pressure air control station independently adjusts the air output of each independent air hole according to the target air output parameters to form a dynamic air cushion to stabilize the transmission of the glass.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: This invention provides a matrix airflow transport structure. A first and second protective wall are symmetrically positioned on both sides of the transport device. A first airflow hole array and a second airflow hole array are respectively set on the glass-facing surfaces of the protective walls. A high-pressure air control station is connected to each independent air hole via an independent air path, thus forming a non-contact airflow barrier between the glass and the protective wall. This structure completely replaces traditional mechanical limiting devices, fundamentally eliminating the risk of glass surface scratches and edge micro-cracks caused by mechanical contact. Simultaneously, sensors acquire real-time glass attitude data, and the controller, based on this data, controls the high-pressure air control station to independently adjust the air output parameters of each air hole, enabling the airflow hole arrays on both sides to work synergistically and dynamically adjust the distribution and intensity of the air cushion. This closed-loop feedback control mechanism allows the system to actively resist external disturbances such as ambient airflow and equipment vibration, ensuring that the glass is always stably centered during transport, solving the problem that traditional air flotation devices cannot dynamically correct deviations.

[0017] This invention also provides a matrix airflow transport method applied to the aforementioned matrix airflow transport structure. This method uses sensors to collect real-time attitude data of the glass. A controller predicts the glass's trajectory within a future time window based on this attitude data. Then, based on the predicted trajectory, it calculates the target air outlet parameters for each independent air outlet in the first and second airflow hole arrays. Finally, a high-pressure air control station independently adjusts the air outlet of each independent air outlet, forming a dynamic air cushion to stabilize the glass transport. This method achieves complete closed-loop control from attitude perception, trajectory prediction, parameter calculation to airflow execution, enabling the air cushion to adjust in real-time according to changes in glass attitude, always maintaining a non-contact state. Because airflow adjustment is based on predicted trajectory rather than delayed feedback, the system can respond to glass offset trends in advance, effectively resisting various disturbances and ensuring the glass remains stable throughout the transport process, thereby significantly improving the yield of large-size ultra-thin glass transport. Attached Figure Description

[0018] Figure 1 This is a schematic diagram showing the relative positions of the first protective wall, the second protective wall, and the glass in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the airflow direction in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the sensor monitoring the glass position in an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of a gripper engaging with a conveyor belt to transport glass in the prior art.

[0022] Figure 5 This is a flowchart of the matrix airflow transport method in an embodiment of the present invention.

[0023] In the figure, 100 is the first protective wall; 200 is the second protective wall; 300 is glass; 410 is the first airflow hole array; 411 is the first independent air hole; 420 is the second airflow hole array; 421 is the second independent air hole; 500 is the sensor; and 700 is the gripper. Detailed Implementation

[0024] During the transport of large-size ultrathin substrate glass, direct contact between the mechanical limiting device and the glass 300 can easily lead to micro-cracks at the edges of the glass 300 or scratches on the surface, significantly reducing the strength of the finished product. For example, as Figure 4 In the existing technology shown, a gripper 700 is used in conjunction with a conveyor belt to achieve the conveying and positioning of the glass 300. The mechanical contact between the gripper 700 and the edge of the glass 300 inevitably causes potential damage to the glass 300. At the same time, environmental airflow disturbances and vibrations caused by the transmission equipment itself can easily cause the glass 300 to become unstable. Traditional air flotation devices are limited by a fixed airflow pattern and cannot dynamically adjust the airflow distribution according to the real-time attitude of the glass 300, making it difficult to achieve high-precision non-contact stable transmission.

[0025] In view of this, the present invention provides a matrix airflow transport structure and method. The structure symmetrically arranges a first protective wall 100 and a second protective wall 200 on both sides of the transport device. A first airflow hole array 410 is arranged on the wall surface of the first protective wall 100 facing the glass 300, and a second airflow hole array 420 is arranged on the wall surface of the second protective wall 200 facing the glass 300. Multiple first independent air holes 411 of the first airflow hole array 410 and multiple second independent air holes 421 of the second airflow hole array 420 are all connected to a high-pressure air control station via independent air paths. A sensor 500 collects the attitude data of the glass 300 in real time. The controller controls the high-pressure air control station to independently adjust the air output parameters of each independent air hole based on the attitude data, so that the airflow hole arrays on both sides work together to form a dynamic air cushion, maintaining stable transport of the glass 300 in a non-contact manner.

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0030] Example 1 This embodiment provides a matrix airflow transport structure, which specifically includes a conveying device, a first protective wall 100, a second protective wall 200, a first airflow hole array 410, a second airflow hole array 420, a high-pressure air control station, a sensor 500, and a controller.

[0031] The conveying device is used to carry the glass 300 and transport it along a preset direction. The conveying device can be a common conveying equipment in the art, such as a conveyor belt, roller conveyor, or air-floating conveyor. Its specific structure can be selected according to the actual conveying requirements, as long as it meets the basic functions of carrying and transporting the glass 300.

[0032] Reference Figure 1 As shown, the first protective wall 100 and the second protective wall 200 are symmetrically arranged on both sides of the conveying device. The arrangement direction of the first protective wall 100 and the second protective wall 200 is basically parallel to the conveying direction of the glass 300, forming a conveying channel through which the glass 300 can pass. The height of the first protective wall 100 and the second protective wall 200 is usually set higher than the thickness direction of the glass 300 to ensure that the airflow can effectively act on the edge area of ​​the glass 300.

[0033] A first airflow hole array 410 is disposed on the wall surface of the first protective wall 100 facing the glass 300. The first airflow hole array 410 consists of multiple first independent air holes 411, which are arranged in a matrix on the wall surface of the first protective wall 100. Similarly, a second airflow hole array 420 is disposed on the wall surface of the second protective wall 200 facing the glass 300, consisting of multiple second independent air holes 421 arranged in a matrix on the wall surface of the second protective wall 200. This matrix arrangement allows the airflow to be evenly distributed across the entire length and height of the glass 300, forming a stable air cushion support area, as shown in Figure 100. Figure 2 As shown.

[0034] The high-pressure air control station is connected to each of the first independent air vents 411 and each of the second independent air vents 421 via independent air paths. Specifically, each of the first independent air vents 411 and each of the second independent air vents 421 is equipped with an independent air path pipe, which connects the independent air vent to an independent control valve within the high-pressure air control station. This independent air path design allows the high-pressure air control station to individually adjust the outlet parameters of each independent air vent, including outlet pressure and outlet flow rate. This independent adjustment capability is the foundation for achieving precise airflow control; independent air vents at different locations can output different airflow intensities according to actual needs.

[0035] Reference Figure 3 As shown, sensor 500 is arranged along the conveyor line, and its detection area covers the area where glass 300 is located. The specific installation position of sensor 500 can be selected according to actual working conditions, as long as it can accurately acquire the attitude data of glass 300. Sensor 500 is used to collect the attitude data of glass 300 in real time during the transmission process. This attitude data can include information such as the position coordinates and tilt angle of glass 300. By monitoring the attitude changes of glass 300 in real time, sensor 500 provides data support for subsequent dynamic adjustment.

[0036] The controller is electrically connected to the sensor 500 and the high-pressure air control station. The controller receives the attitude data of the glass 300 collected by the sensor 500 and generates corresponding control commands based on this data, sending them to the high-pressure air control station. The high-pressure air control station independently adjusts the air output parameters of each independent air vent according to the received control commands. When the sensor 500 detects a change in the attitude of the glass 300, the controller can respond quickly by adjusting the air output of each independent air vent, thereby changing the airflow output of the first air vent array 410 and the second air vent array 420, and thus dynamically adjusting the air cushion distribution on both sides of the glass 300.

[0037] Under the synergistic effect of the above structures, the airflow output from the first airflow hole array 410 and the airflow output from the second airflow hole array 420 work together to form a dynamic air cushion between the glass 300 and the first protective wall 100, and between the glass 300 and the second protective wall 200. This dynamic air cushion applies non-contact supporting and guiding forces to the glass 300, enabling it to maintain a stable posture during transmission. Because the airflow is non-contact, the glass 300 does not come into direct contact with the first protective wall 100, the second protective wall 200, or any other mechanical components during transmission, thus avoiding surface scratches and edge micro-cracks caused by mechanical contact. Simultaneously, because the controller can dynamically adjust the airflow from each independent air hole based on the posture data fed back in real time by the sensor 500, this dynamic air cushion has the ability to actively resist external disturbances and can quickly adjust the airflow distribution when environmental airflow changes or equipment vibration occurs, maintaining the stable transmission of the glass 300.

[0038] Example 2 The matrix airflow transport structure provided in this embodiment is further defined based on Embodiment 1. In this structure, the first protective wall 100 is configured as a blowing wall, and the first independent air hole 411 of the first protective wall 100 is used to output positive pressure airflow. The second protective wall 200 is configured as a return air wall, and the second independent air hole 421 of the second protective wall 200 can switch to output positive pressure airflow or negative pressure airflow. This functional division allows the first airflow hole array 410 to mainly play a pushing and guiding role, forming a main air cushion supporting the glass 300 through positive pressure airflow; the second airflow hole array 420 plays a role in air pressure balance and active correction. When it is necessary to pull the glass 300 towards the second protective wall 200, the second independent air hole 421 outputs positive pressure airflow; when it is necessary to pull the glass 300 back to the center position, the second independent air hole 421 can switch to negative pressure airflow to generate an adsorption effect. The coordinated work of the blowing wall and the return air wall realizes precise control of the air pressure on both sides of the glass 300, significantly improving the sensitivity and accuracy of the correction response.

[0039] Sensor 500 includes multiple multi-axis laser displacement sensors, which are mounted on the first protective wall 100 and / or the second protective wall 200, spaced apart along the transmission direction of the conveying device. The detection area of ​​the multi-axis laser displacement sensors covers the edges or corners of the glass 300, enabling real-time acquisition of three-dimensional coordinate data of multiple feature points on the glass 300, including the position information of the four corner points of the glass 300 and the edge contour data of the glass 300. Through multi-point detection, the controller can accurately calculate complete attitude parameters of the glass 300, such as its center position, yaw angle, and pitch angle. Sensor 500 also includes a vibration acceleration sensor mounted on the support of the conveying device. This vibration acceleration sensor is used to collect real-time data on the vibration frequency and amplitude generated by the conveying device during transmission. The introduction of the vibration acceleration sensor allows the controller to acquire feedforward information on equipment vibration disturbances, enabling prediction and compensation before the vibration is transmitted to the glass 300, thus enhancing the system's resistance to mechanical vibration.

[0040] The controller employs a Kalman filter algorithm to fuse multi-source data collected by sensor 500. Based on historical and current attitude data acquired by sensor 500, combined with vibration data from the vibration acceleration sensor, the Kalman filter algorithm predicts the motion trajectory of glass 300 within a future time window. This algorithm effectively filters out sensor noise, integrates the measurement advantages of different sensors, and outputs a more accurate and smooth trajectory prediction result. The controller further employs a PID control algorithm to calculate the target air outlet parameters of each independent air outlet in the first air outlet array 410 and the second air outlet array 420 based on the deviation between the predicted motion trajectory of glass 300 and the preset ideal centering trajectory. The PID control algorithm, through the coordinated action of proportional, integral, and derivative components, achieves rapid, stable, and error-free adjustment of the air outlet parameters, ensuring that glass 300 can be precisely maintained at the center of the transmission channel.

[0041] Multiple independent air holes in the first air hole array 410 and / or the second air hole array 420 are divided into several groups, and the controller is configured to synchronously control the independent air holes within each group. This group control method reduces the number of channels that the controller needs to control independently while ensuring basic regulation capability, thereby reducing system complexity and manufacturing costs. For areas with high control accuracy requirements, a smaller group size can be used; for areas with relatively low control accuracy requirements, a larger group size can be used, achieving an optimal balance between performance and cost.

[0042] The air outlet direction of the first independent vent 411 and / or the second independent vent 421 is adjustable. By adjusting the air outlet direction, the angle at which the airflow acts on the glass 300 can be changed, thereby generating guiding forces in different directions. The air outlet direction can be adjusted manually or electrically by a controller to adapt to the transmission requirements of different glass specifications or the optimal control strategy under different operating conditions.

[0043] The conveying device specifically includes one of a conveyor belt, roller conveyor, or air flotation conveyor. These three methods are common glass conveying equipment in the field and can be selected based on the actual production line layout, glass specifications, and cost requirements. Conveyor belts are suitable for continuous conveying, roller conveyors are suitable for heavy-duty or high-temperature environments, and air flotation conveyors are suitable for applications requiring extremely high cleanliness.

[0044] Example 3 This embodiment provides a matrix airflow transport method, referring to... Figure 5 As shown, this method is applied to the matrix airflow transport structure described in Example 1 or Example 2. The method includes the following steps.

[0045] Step S1 involves real-time acquisition of the attitude data of the glass 300 using sensor 500. Sensor 500 includes multiple multi-axis laser displacement sensors, which are spaced apart on the first protective wall 100 and / or the second protective wall 200 along the transmission direction of the conveying device, with their detection areas covering the edges or corners of the glass 300. As the glass 300 moves along the conveying device, the multi-axis laser displacement sensors continuously acquire three-dimensional coordinate data of multiple feature points on the glass 300 at a preset sampling frequency (e.g., 100Hz). These feature points include at least the four corner positions of the glass 300. Using the multi-point coordinate data, complete attitude information such as the real-time center position coordinates, yaw angle around the vertical axis, and pitch angle around the horizontal axis of the glass 300 can be calculated. When sensor 500 also includes a vibration acceleration sensor mounted on the support of the conveying device, step S1 simultaneously acquires the vibration frequency and amplitude data of the conveying device, providing feedforward information on equipment vibration disturbances for subsequent steps.

[0046] Step S2: Based on the attitude data acquired in step S1, the controller predicts the motion trajectory of the glass 300 within a future time window. The controller first filters the raw data acquired by the sensor 500 to remove measurement noise. Then, the controller uses a Kalman filter algorithm to fuse the current attitude data with historical attitude data sequences, and combines this with the kinematic characteristics of the glass 300 during transmission to predict the motion trend of the glass 300 within a preset future time window (e.g., 0.3 to 0.5 seconds). This prediction result includes the expected position coordinates and expected attitude angles of the glass 300 at various future moments. When vibration acceleration data is acquired in step S1, this vibration data is used as a feedforward input in trajectory prediction, enabling the controller to predict the impact of equipment vibration on the attitude of the glass 300 and reflect this in the predicted trajectory.

[0047] Step S3: Based on the predicted motion trajectory of the glass 300 obtained in step S2, the controller calculates the target air outlet parameters for each independent air outlet in the first air outlet array 410 and the second air outlet array 420. The controller compares the predicted trajectory with the preset ideal centered transmission trajectory to obtain the positional and angular deviations of the glass 300 within the future time window. These deviations are used as inputs to the PID control algorithm. After proportional, integral, and derivative operations, the output is the magnitude and direction of the correction force required to correct these deviations. Based on the position coordinates of each independent air outlet on the protective wall, the controller calculates the total correction requirement into the target air outlet parameters for each first independent air outlet 411 and each second independent air outlet 421. The target air outlet parameters include the target air pressure value and the target flow rate value. For independent air outlets with adjustable air outlet direction, the target air outlet parameters also include the target air outlet direction.

[0048] Step S4: The high-pressure air control station independently adjusts the air output of each independent vent based on the target air output parameters calculated in step S3. The high-pressure air control station is equipped with independent proportional control valves or solenoid valves corresponding to each first independent vent 411 and each second independent vent 421. The controller converts the target air output parameters calculated in step S3 into control signals (e.g., analog voltage signals or PWM pulse signals) and sends them to the corresponding proportional control valves in the high-pressure air control station. Each proportional control valve independently adjusts its opening degree according to the received control signal, thereby changing the air pressure and flow rate output from the corresponding independent vent. When the second protective wall 200 is configured as a return air wall and requires negative pressure airflow, the high-pressure air control station switches the valve state of the corresponding air path, causing the corresponding second independent vent 421 to generate a negative pressure adsorption effect.

[0049] During the cyclic execution of the above steps, the airflow output from the first airflow hole array 410 and the second airflow hole array 420 forms a dynamic air cushion between the glass 300 and the first protective wall 100, and between the glass 300 and the second protective wall 200. The distribution and intensity of this dynamic air cushion change in real time according to the controller commands, always matching the real-time attitude and predicted trajectory of the glass 300. For example, when the controller predicts that the glass 300 will shift towards the first protective wall 100, a group of second independent air holes 421 on the second protective wall 200 in the corresponding area rapidly increases the positive pressure output, while a group of first independent air holes 411 on the first protective wall 100 in the corresponding area decreases the positive pressure output or switches to zero pressure, thereby generating a resultant force that pushes the glass 300 towards the second protective wall 200. When the attitude of the glass 300 returns to normal, each independent air hole returns to its basic output state, maintaining the stable transmission of the glass 300.

[0050] This method achieves real-time closed-loop control of the glass 300 transmission process through iterative steps S1 to S4. The control cycle can be set from 10 milliseconds to 50 milliseconds, enabling the system to quickly respond to minute changes in the glass 300's attitude and the instantaneous impact of external disturbances. Throughout the transmission process, the glass 300 remains in a non-contact state with the first protective wall 100, the second protective wall 200, and any other mechanical components, completely eliminating the risk of damage caused by mechanical contact. Simultaneously, the dynamic airflow adjustment mechanism based on trajectory prediction enables the system to actively resist disturbances, compensating in advance for changes in ambient airflow or equipment vibration, ensuring that the glass 300 remains stably centered during transmission.

[0051] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A matrix airflow transport structure, characterized in that, include: A conveying device for carrying and transporting glass (300). The first protective wall (100) and the second protective wall (200) are symmetrically arranged on both sides of the conveying device; A first airflow hole array (410) is disposed on the wall surface of the first protective wall (100) facing the glass (300), and includes a plurality of first independent air holes (411). The second airflow hole array (420) is disposed on the wall surface of the second protective wall (200) facing the glass (300), and includes a plurality of second independent air holes (421). The high-pressure air control station is connected to each of the first independent air ports (411) and each of the second independent air ports (421) via independent air passages; Sensor (500) is used to acquire attitude data of glass (300); The controller, electrically connected to the sensor (500) and the high-pressure air control station, is configured to control the high-pressure air control station to adjust the air output of each independent air hole according to the glass attitude data detected by the sensor (500) in order to dynamically stabilize the transmission of the glass (300).

2. The matrix airflow transport structure according to claim 1, characterized in that, The first protective wall (100) is an air blowing wall, and the first independent air hole (411) can output positive pressure airflow; the second protective wall (200) is an air return wall, and the second independent air hole (421) can switch to output positive pressure airflow or negative pressure airflow.

3. The matrix airflow transport structure according to claim 1, characterized in that, The sensor (500) includes a plurality of multi-axis laser displacement sensors, which are disposed on the first protective wall (100) and / or the second protective wall (200) and are arranged at intervals along the transmission direction of the conveying device, and their detection areas cover the edges or corners of the glass (300).

4. The matrix airflow transport structure according to claim 3, characterized in that, The sensor (500) also includes a vibration acceleration sensor disposed on the transmission device.

5. The matrix airflow transport structure according to claim 1, characterized in that, The controller uses a Kalman filter algorithm to predict the motion trajectory of the glass (300) within a future time window based on the historical attitude data and current attitude data acquired by the sensor (500).

6. The matrix airflow transport structure according to claim 5, characterized in that, The controller uses a PID control algorithm to calculate the target air output parameters for each independent vent based on the predicted motion trajectory.

7. The matrix airflow transport structure according to claim 1, characterized in that, The multiple independent air holes in the first air hole array (410) and / or the second air hole array (420) are divided into several groups, and the controller is configured to synchronously control the independent air holes in each group.

8. The matrix airflow transport structure according to claim 1, characterized in that, The air outlet direction of the first independent vent (411) and / or the second independent vent (421) is adjustable.

9. The matrix airflow transport structure according to claim 1, characterized in that, The conveying device is a conveyor belt, roller conveyor, or air flotation conveyor.

10. A matrix airflow transport method, applied to the matrix airflow transport structure according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Real-time acquisition of the attitude data of the glass (300) through the sensor (500); S2. Based on the attitude data, the controller predicts the motion trajectory of the glass (300) within a future time window; S3. The controller calculates the target air output parameters of each independent air hole in the first airflow hole array (410) and the second airflow hole array (420) according to the predicted motion trajectory. S4. The high-pressure air control station independently adjusts the air output of each independent air hole according to the target air output parameters to form a dynamic air cushion to stabilize the transmission of the glass (300).

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