Gwaro reNhungamiro dzeZvinhu Zvikuru zveKuedza neKuedza Marobhoti eThree-Axis Servo

Chinhu Chinofanira Kuverengwa Usati Watenga: Gwaro reMapoinzi Akakosha Ekuyedzwa neKuedzwa kweThree-Axis Ruoko rweRobhoti reServos

Mukati mekufamba kwezvishandiso zvemaindasitiri, maoko erobhoti ane servo-axis matatu, Nekunyatsorongeka kwavo uye kugadzikana, vave michina mikuru mukugadzira zvemagetsi, zvikamu zvemotokari, kurongedza chikafu, nedzimwe nzvimbo. Zvisinei, nezvigadzirwa zvakawanda zviri pamusika, zvakaoma kuona kana mudziyo wakakodzera zvaunoda kugadzira zvichibva padata sheets chete. Kuedza nekuyedza usati watenga matanho akakosha ekuderedza njodzi dzekudyara uye kuona kuti mashandiro acho anoshanda zvakanaka. Chinyorwa chino chichaongorora pfungwa huru dzekuedza nekuyedza maoko erobhoti matatu-axis servo kubva pamaonero mana: kugadzirira usati waedza, kuyedza kushanda, kusimbiswa kwekuchengetedza, uye kuongorora kuenderana, kubatsira vatengi kusarudza michina inosangana nezvavanotarisira nemazvo.

I. Kutongwa Kusati Kwaitwa: Kugadzirira Kutatu Kwekutanga Kwekuyedzwa Kunoshanda Zvakanyanya

Kuedza kwekuyedza hakusi kungo "wana michina woibatidza chete." Kugadzirira zvakakwana pachine nguva kunogona kudzivirira kutsauka munzira yekuyedza uye kuwedzera kukosha kwemhedzisiro. Tinokurudzira kutanga nezvinhu zvitatu zvinotevera:

1. Tsanangura zvinangwa zvebvunzo uye kuenderana kwazvo nemamiriro ezvinhu.

Kutanga, tsanangura zvinangwa zvebvunzo zvakajeka zvichienderana nezvaunoda pakugadzira. Semuenzaniso:
Kana mudziyo uchishandiswa pakubatanidza zvikamu zvemagetsi, tarisa pakuedza "kudzokorora" uye "kufamba kwakatsetseka";
Kana ikashandiswa pakubata zvinhu zvinorema (semuenzaniso, zvikamu zvinorema kupfuura 5kg), tarisa pane "kukwanisa kurema" uye "kugadzikana kwesimba remota yeservo";
Kana ichizobatanidzwa mumutsetse wekugadzira uripo, zvakakoshawo kusimbisa pachine nguva kuti "hukuru hwechishandiso," "nzvimbo yekumisikidza," uye marongerwo eworkshop zvinoenderana here.

Zvinokurudzirwa kugadzira "Zvinodiwa Pabvunzo" uye kutsanangura zvakajeka "zvinodiwa pakuyedza" kwechinhu chimwe nechimwe chekuyedza (semuenzaniso, kudzokororwa kunofanirwa kunge kuri ≤±0.02mm) kudzivirira sarudzo dzakarerekera gare gare nekuda kwekutonga kwemunhu.

2. Gadzirira Nzvimbo Yakakodzera Yebvunzo uye Zvishandiso

Kushanda kweruoko rwerobhoti reservo rine mativi matatu kunokanganiswa zvakanyanya nemamiriro ekunze, saka nzvimbo yekuyedza inofanira kutevedzera zvakanyanya mamiriro chaiwo ekugadzirwa:

Zvinodiwa Munzvimbo: Chengetedza "kufamba kwakachengeteka" kwakakwana kwekufamba kwemudziyo (tarisa data rekufamba kweaxis riri mudata remudziyo, semuenzaniso, 300mm yeX-axis, 200mm yeY-axis, uye 150mm yeZ-axis, uye bvumira imwe nzvimbo ye10%-20% buffer).

Simba neMhepo: Simbisa kuti voltage yemagetsi (semuenzaniso, AC 220V/380V) uye kumanikidzwa kwemhepo (semuenzaniso, 0.5-0.7MPa) zvinoenderana nezvinodiwa nemudziyo kudzivirira kutadza kushanda zvakanaka kwemota yeservo kunokonzerwa nekusagadzikana kwevoltage.

Zvishandiso zveKuedza: Gadzirira michina yekuyera yakanyatsogadzirwa (semuenzaniso, micrometer, laser interferometer), maturusi ekuenzanisa mutoro (semuenzaniso, mabhuroko esimbi ane huremu hwakakodzera), uye fomu rekunyora data (rekunyora data rekuyedza uye zvisina kunaka).

3. Tsanangura ruzivo rwekutsigira bvunzo nemutengesi.

Taura zvinotevera nemutengesi pachine nguva kuti uve nechokwadi chekuti bvunzo yacho yakanyatsonaka:

Kana nhungamiro yehunyanzvi panzvimbo iyi ichapihwa kudzivirira kukuvara kwemidziyo nekuda kwekushanda zvisina kunaka;

Kuyedzwa kwemapurogiramu akagadzirwa (akadai sekutevedzera kutenderera kwe "grasp-move-place" kunoshandiswa mukugadzira) kunobvumidzwa here;

Kana mashandiro asingaenderane nezvinodiwa panguva yekuedzwa, kungave kugadziriswa kwema parameter kana kutsiviwa kwemuenzaniso wemuchina kunotsigirwa.

II. Kuedzwa Kwekushanda Kwakakosha: Kutarisa paZviyero Zvishanu Zvakakosha Kuti Uone Kururama uye Kugadzikana Kwemidziyo

Kukosha kukuru kweruoko rwerobhoti reservo rine mativi matatu kuri mu "kunyatsorongeka" uye "kugadzikana kwakanyanya." Kuedza kunotarisa pakusimbisa zviyero zvishanu zvinotevera. Bvunzo yega yega inofanira kudzokororwa katatu kusvika kashanu, uye kukosha kweavhareji kuverengerwa kuderedza kukanganisa.

1. Kudzokororwa: "Nzira Yehupenyu" Yekushandisa Maindasitiri

Kudzokororwa kunoreva kutsauka panzvimbo ye end effector (senge gripper) mushure mekunge mudziyo waita chiito chimwe chete kakawanda. Ndiyo chiyero chakakosha mumashandisirwo akadai se electronic assembly uye precision welding.​
Nzira yekuedza:
Isa chiratidzo chekudhayira pamucheto weruoko rwerobhoti uye gadzirisa probe yechiratidzo chekudhayira nenzvimbo yakatarwa yekunongedzera (senge pini yekuona panzvimbo yebasa).
Nyora purogiramu yekuti ruoko rwerobhoti rufambise chiratidzo chedhiraivha kunzvimbo yekunongedzera uye runyore kuverenga kwechiratidzo chedhiraivha.
Dzokorora chiito ichi kashanu uye verenga musiyano uripo pakati pekuverenga kwepamusoro nepashoma. Izvi zvinomiririra kudzokorora.
Zvinodiwa Kuti Ukwanise:
Maoko erobhoti emhando yechitatu-axis servo anoda kudzokororwa kwe ≤±0.05mm, nepo michina yemhando chaiyo ichida kudzokororwa kwe ≤±0.02mm (zvichienderana nezvinodiwa pakugadzira, semuenzaniso, kugadzira skrini yefoni kunoda ≤±0.01mm).
Cherechedza: Panguva yekuedza, dzima basa rekuti "error compensation" (mimwe michina ine compensation inogoneswa nedefault, izvo zvinogona kuvharidzira kururama kwechokwadi). Iva nechokwadi chekuti nzvimbo yebasa haina vibration (shandisa ma anti-vibration pads ari pasi).

2. Kuronga Nzvimbo Yakarurama: Kuve nechokwadi chekuti Nzira Yekufamba Yakarurama

Kurongeka kwenzvimbo kunoreva kutsauka pakati penzvimbo chaiyo ye end effector nenzvimbo yakarongwa mushure mekunge michina yaita kufamba, izvo zvinokanganisa kuenderera mberi kwemaitiro ekugadzira. Nzira Yekuedza:
Shandisa laser interferometer kugadzira sisitimu yekuyera, uye isa reflector pamucheto weruoko rwerobhoti.
Sarudzai zvakaenzana mapoinzi ekuyedza mashanu kusvika masere mukati menzvimbo yekufamba yeX, Y, uye Z axes (semuenzaniso, kubva pa0mm kusvika pakufamba kwakanyanya paX axis, sarudzai poindi imwe pa50mm yega yega).
Dzora ruoko rwerobhoti panzvimbo yega yega yakatarwa, nyora kutsauka kwenzvimbo chaiyo kunoratidzwa neinterferometer yelaser, uye verenga kutsauka kwakanyanya pamapoinzi ese.

Zvinodiwa: Kurongeka kwenzvimbo kunofanirwa kuva ≤ kaviri kudzokororwa (semuenzaniso, kudzokororwa ±0.02mm, kurongeka kwenzvimbo ≤ ±0.04mm), uye kutsauka kunofanira kunge kwakasimba (pasina kuchinja kamwe kamwe).

3. Kukwanisa Kutakura: Simbisa "Muganho Wekutakura" weMidziyo

Kurema kwemutoro kunoreva huremu hwepamusoro (kusanganisira huremu hwegripper) hunogona kutsigirwa nemugumo weruoko rwerobhoti nekumhanya kwakayerwa. Kupfuura mutoro wakayerwa kunogona kukonzera kuti mota yeservo iwedzere kupisa, kuderedza kumhanya kwekufamba, kana kutokuvadza michina. Nzira Yekuyedza:

Isa chinhu chinorema chakajairika pamucheto weruoko rwerobhoti (huremu hunowedzera zvishoma nezvishoma kubva pa50% kusvika 120% yemutoro wakayerwa. Semuenzaniso, kana mutoro wakayerwa uri 5kg, edza huremu hwe2.5kg, 5kg, uye 6kg).

Ronga ruoko rwerobhoti kuti rupedzise kutenderera kwe "lift + translation" nekumhanya kwakarongwa (tarisa padatasheet yemudziyo, semuenzaniso, kumhanya kwepamusoro kweX-axis kwe500mm/s) (edza kutenderera gumi pamutoro wega wega).

Tarisa mamiriro ekushanda kwemuchina: kana paine kudonha kwespeed, ruzha rwemota rusina kujairika, kana maaramu (akadai sekuwanda kwemotokari).

Zvinodiwa Kuti Ukwanise Kupinda:

Pasi pemutoro wakayerwa, mudziyo haufanirwe kuburitsa ruzha rusina kujairika kana maaramu, uye kumhanya kwekufamba kunofanirwa kuenderana nedatasheet. Pa110%-120% yemutoro wakayerwa, kudzikira kwekukurumidza kudiki (≤10%) kunobvumidzwa, asi hapana maaramu kana kudzima kunobvumidzwa.

4. Kumhanya uye Kukurumidzisa: Kukanganisa Kubudirira Kwekugadzira

Kumhanya nekukurumidzisa zvinosarudza zvakananga kushanda zvakanaka kwerobhoti. Kuedzwa kunofanirwa kuitwa zvichienderana nezvinodiwa zvekugadzirwa kwerobhoti kuti zvionekwe kuti mudziyo unogona kuwana kushanda zvakanaka kunotarisirwa.
Nzira Yekuedza:
Shandisa timer kunyora nguva inotorwa nerobhoti kuti ipedze "daro kubva panzvimbo A kuenda panzvimbo B" (daro rinozivikanwa, rakaita sekufamba kwe200mm X-axis) uye kuverenga kumhanya chaiko (kumhanya = daro / nguva).
Edza kufamba kwerobhoti pakumhanya kwakasiyana (semuenzaniso, kuwedzera kumhanya kubva pa0.5m/s² kusvika pa1.5m/s²) kuti uone kana paine "kukambaira" kana "kupfuura" (kureva, kudzokera shure mushure mekupfuura nzvimbo yakatarwa).

Zvinodiwa Kuti Ukwanise Kupinda:
Kumhanya chaiko kunofanirwa kunge kuri ≥ 90% yehuwandu hwakatarwa mupepa redata (semuenzaniso, kana pepa redata richiratidza kumhanya kwakanyanya kweX-axis kwe600mm/s, kumhanya chaiko kunofanirwa kunge kuri ≥ 540mm/s). Munguva yekugadzirisa kumhanyisa, kufamba kunofanirwa kunge kwakatsetseka, pasina kukwira kunoonekwa (kukwira kunofanira kunge kuri ≤ ±0.1mm).

5. Kugara Uchishanda Kugadzikana: Kutevedzera Mamiriro Ekugadzira Enguva Refu

Iyo Robhoti MInofanira kushanda nguva dzose kwemaawa 8-12 munzvimbo yemaindasitiri. Kuongororwa kwekugadzikana kunogona kuona matambudziko angangoitika ane chekuita nekushanda kwenguva refu (semuenzaniso, kupisa zvakanyanya kwemota, kubatanidza waya zvisina kunaka). Nzira Yekuedza:

Gadzira chirongwa chekutenderera chinotevedzera kugadzirwa chaiko (semuenzaniso, "tora - famba - isa - dzokera kune kwawakabva," nekutenderera kwega kwega kuchitora masekondi gumi).

Shanyirai michina nguva dzose kwemaawa mana, muchinyora data rakakosha mumaminitsi makumi matatu ega ega: tembiricha yemota yeservo (inoyerwa ne infrared thermometer, inowanzova ≤60°C), ruzha rwekushanda (inoyerwa ne noise meter, inowanzova ≤70dB), uye chero ma alarm.

Mushure mekumhanya, edzazve kudzokorora kuti uone kana kupisa kwakonzera kudzikira kwekunyatsorongeka.

Zvinodiwa Kuti Ukwanise Kupinda:

Hapana maaramu kana ruzha rusina kujairika panguva yekushanda nguva dzose, tembiricha yemota yakagadzikana (musiyano wetembiricha ≤10°C); kutsauka kunodzokororwa mushure mekumhanya i ≤15% yemutengo wekutanga wekuyedza.

III. Kuongororwa Kwekuchengetedzwa Uye Kuenderana: Kudzivirira Matambudziko Ekugadzirisa Pamberi

Pamusoro pekushanda kwepakati, kuchengetedzeka uye kuenderana kwemidziyo kunokanganisa zvakananga "mutengo wekudzika kwemidziyo." Kuregeredza bvunzo idzi mbiri kunogona kutungamira mukuchinjwa kwemitsara yekugadzira, zviitiko zvekuchengetedza, nezvimwe zvinetso.

1. Kuedzwa Kwekuchengetedza: Matanho Matatu Ekuchengetedza Kwekushanda

Maoko erobhoti ane tambo nhatu anoshandiswa otomatiki uye anofanirwa kutevedzera mitemo yekuchengetedza maindasitiri (yakadai seISO 13849). Zvinhu zvakakosha pakuedza zvinosanganisira:

Basa reKumisa Panjodzi: Mushure mekudzvanya bhatani rekumisa panjodzi, mudziyo unofanirwa kumira mukati memasekonzi 0.5, nemasekonzi ese akakiyiwa (hapana kutsvedza kwakasununguka). Mushure mekutangidzazve, unofanirwa kudzokera kwawakabva usati watanga kushanda.

Zvishandiso Zvekuchengetedza: Kana mudziyo wacho uine keteni remwenje rekuchengetedza/gonhi rekuchengetedza, kana chinhu chikavhara keteni remwenje kana kuvhura gonhi rekuchengetedza, mudziyo wacho unofanira kumira ipapo ipapo uye haugone kutangwazve nemaoko (unofanira kudzoserwa patsva usati watanga kushanda).

Dziviriro Yekurema Kwakawandisa: Kana mutoro wekupedzisira wapfuura 150% yemutengo wakayerwa, mudziyo unofanirwa kuunza alarm yekurema kwakawandisa uye wodzima kuti injini isanyanya kuneta (izvi zvinogona kuyedzwa nekurodha chigadzirwa chinorema).

2. Kuedzwa Kuenderana: Kuve nechokwadi chekubatanidzwa mumitsara yekugadzirwa iripo

Kana ruoko rwerobhoti rwakatengwa inofanira kushandiswa nemidziyo iripo (yakadai sema conveyors, PLC control systems, kana michina yekutarisa kuona), kuyedza kuenderana kwayo kwakakosha:

Kuenderana kweCompatibility yeCompatibility: Edza kana interface yecompatibility yemuchina (yakadai seRS485, EtherCAT, kana Profinet) ichigona kutaurirana zvakanaka nePLC iripo uye kana "PLC inotumira murairo - robhoti rinoita chiito" ichigona kuwanikwa (semuenzaniso, mushure mekunge conveyor yaendesa workpiece kunzvimbo yakatarwa, robhoti rinoibata yega);

Kuenderana kweSoftware: Isa software yekudzora yemutengesi uye edza kana ichishanda pamakombiyuta aripo (semuenzaniso, Windows 10/11), inotsigira mapurogiramu akagadzirwa (semuenzaniso, madhayagiramu edanho, G-code), uye iri nyore kushandisa (semuenzaniso, ine chiratidziro chemushandisi chinooneka uye kugona kuongorora zvikanganiso);

Kuenderana Kwemagumo: Edza kana flange interface yemuchina ichienderana nemagripper aripo (semuenzaniso, pneumatic grippers, vacuum cups), uye inotsigira gripper signal feedback (semuenzaniso, "grasp success/failure" signals inotumirwa kune control system).

IV. Kuongororwa Mushure meKuedza: Pedzisa Mabasa Maviri Ekupedzisira Kuti Upe Hwaro hweSarudzo dzeKutenga

Mushure mebvunzo, ruzivo runofanira kurongwa nekukasika uye chero nyaya dzinofanira kuziviswa kudzivirira chero zvisizvo zvinogona kukanganisa sarudzo dzekutenga.

1. Gadzirira Mushumo Webvunzo Kuti Uone Kushanda Kwemidziyo

Ronga data rese rekuyedza mutafura, zvichiratidza zvakajeka "chinhu chekuyedza, kukosha kwakajairika, kukosha chaiko, uye kutevedzera zvinodiwa." Semuenzaniso:

Chinhu Chekuyedza
Kukosha Kwakajairika
Kukosha Chaiko
Kutevedzera mitemo
Kudzokororwa (X-axis)
≤±0.02mm
± 0.015mm
Kutevedzera
Kumhanya Kwekushanda Kwemutoro Wakayerwa
≥500mm/s
480mm/s
Zvakundikana
Nguva Yekupindura Pakukurumidzira
≤0.5s
0.3s
Kutevedzera

Zvakare, nyora pasi chero zvinhu zvisina kumira zvakanaka zvakasangana nazvo panguva yekuyedza (semuenzaniso, "X-axis inoita ruzha rusingawanzoitiki pasi pemutoro we6kg" kana "Communication interface dzimwe nguva inodzima") uye nyora mhinduro yemutengesi (semuenzaniso, "Ruzha rwakanyangarika mushure mekugadzirisa maparamita emota").

2. Enzanisa vatengesi vakawanda uye ongorora zvakakwana kushanda zvakanaka kwemari

Kana uchiyedza michina kubva kune vatengesi vakawanda, funga nezvekuenzanisa kwakazara kwakavakirwa pakutevedzera mashandiro, mutengo, uye sevhisi yekutengeswa mushure mekutengesa:

Kutevedzera mashandiro: Isa zvinhu zvakakosha pakushandisa michina inosangana nezvinodiwa zvese (zvakadai sekugona kudzokororwa uye kugadzikana), ine zvinhu zvidiki (zvakadai seruzha) zvinopfuura mwero asi zvichigona kugadziriswa.

Mutengo: Dzivisa kutsvaga mutengo wakaderera usingafungi; verenga mutengo wekutenga + mari yekuchengetedza inoenderera mberi (yakadai sewaranti yemota yeservo uye zvikamu zvekuchengetedza).

Basa remushure mekutengesa: Tarisa kana mutengesi achipa basa rekuisa nekuisa, kudzidziswa kwemushandisi, uye garandi yegore rimwe chete, uye kana aine nzvimbo yekubatsira mushure mekutengesa (izvi zvinogona kupfupisa nguva yekugadzirisa matambudziko).

Mhedziso: Kuedzwa kwekuyedzwa kwakafanana ne "inishuwarenzi yekutenga," uye ruzivo rwakadzama ndirwo runosarudza kukosha kwekupedzisira.

Mari yekutenga ruoko rwerobhoti rine servo ine mativi matatu kazhinji inotangira pamakumi ezviuru kusvika kumazana ezviuru zveyuan. Kuyedzwa kwekuyedzwa usati watenga hakusi "mutengo wekuwedzera" asi "kudyara mari kunodiwa" kuderedza njodzi. Nekutsanangura zvakajeka zvinangwa zvekuyedza, kutarisa pakushanda kukuru, uye kusimbisa kuchengetedzeka uye kuenderana, vatengi vanogona kuona zvakarurama kana michina ichienderana nezvinodiwa pakugadzira, vachidzivirira matambudziko akadai se "kutenga michina isiriyo" uye "kuomerwa nekuchinja kunotevera."

Kana ukasangana nematambudziko ehunyanzvi panguva yekuedza (sekushandisa laser interferometer kana kunyora chirongwa chekuyedza), inzwa wakasununguka kubata timu yehunyanzvi yemutengesi kana kubvunza kambani yehunyanzvi yekuongorora michina otomatiki. Yeuka: michina yakasimbiswa kuburikidza nekuyedza mumunda ndiyo chete inogona kuderedza mitengo uye kuvandudza mashandiro ekugadzira mumaindasitiri.