Kuzvigadzira otomatiki muindasitiri yezvikafu nezvinwiwa: maitiro ekuvandudza mashandisirwo emarobhoti eservo ane axis nhatu

Shanduko muKunyatsojeka uye Kubudirira muKuchinjika: Marobhoti eServo ane Axis matatu Anochinja Paradigm Itsva yeKugadzira Chikafu neZvinwiwa

Musika wepasi rose wekugadzira otomatiki yechikafu uri kukura zvisati zvamboitika. Sekureva kweQYResearch, saizi yemusika yakasvika mabhiriyoni makumi maviri nematatu nemakumi matanhatu nerimwe emadhora muna 2024 uye inotarisirwa kukwira kusvika mabhiriyoni makumi matatu nematanhatu nemakumi mapfumbamwe nematanhatu nemakumi mapfumbamwe nematanhatu emadhora panosvika gore ra2031, zvichiramba zvichikura zvakanyanya pagore ne6.7%. Zvichienderana neizvi, makambani ezvekudya nezvinwiwa anotarisana nematambudziko matatu ekuwedzera kwemitengo yevashandi, kushanduka kwemitemo yekuchengetedza chikafu, uye kusiyanisa kudiwa kwevatengi. Semichina mikuru yekuvandudza otomatiki, marobhoti eservo ane tambo nhatu vari kuchinja nzira yekugadzira zvinhu kuburikidza nehunyanzvi hwetekinoroji. Kubva pakuunganidzwa kwemibato yepurasitiki inokurumidza kusvika pakurongwa kwemabhodhoro nemazvo, kubva pakurongwa kwemagaba ezvikafu zvinokurumidza kusvika pakudzora kuzadza kwema micron-level, mashandisirwo avo ari kuramba achikura, zvichiva chisungo chakakosha pakati pekugadzirwa kukuru uye zvinodiwa zvekushanduka-shanduka.

Mhinduro Dzinochinjika dzeZvinodiwa Zvakasimba: Kukosha Kwakakosha kweTekinoroji yeServo yeThree-Axis

Hunhu hwakasiyana hweindasitiri yezvekudya nezvinwiwa hunoisa zvinodiwa zvakanyanya pamidziyo yekuzvigadzira—inofanira kusangana nezvinodiwa zvehutsanana hwakanyanya sehweFDA neEU 10/2011, inosangana nezvinodiwa zvekuchinja-chinja kwemhando yepamusoro, uye inoramba iine mafambiro akarurama emhando ye millisecond. Robhoti reservo rine mativi matatu, rine hunyanzvi hwaro hwakasiyana, rinosangana zvakakwana nezvinodiwa izvi zvakakosha. Dhizaini yaro yekuvaka inoshandisa simbi isingatsvedzeri yemhando yezvekudya ine kupedzisa kwakapfava pamusoro, uye masisitimu ese enzira dzekufambisa akasimbiswa emitemo yehutsanana yeindasitiri yezvekudya yeEurope. Semuenzaniso, sisitimu yeSC 130 track yakagadzirwa neRollon Group yekambani yekugadzira yeCoca-Cola haingogumiri pakucheneswa nekupiswa hutachiona nguva nenguva asiwo inochengetedza kushanda kwakasimba kwenguva refu munzvimbo dzine hunyoro.

Kuvandudzwa kwekushanda zvakanaka ndicho chinhu chinonyanya kukosha pane robhoti reservo rine mativi matatu. Robhoti reservo rine mativi matatu reSW66 rakagadzirwa neSWEIKE rakagadzirirwa zvigadzirwa zvine madziro matete senge midziyo yekudya inokurumidza. Chimiro charo chine maoko maviri chinoita kuti midziyo yekudya ikwanise kuumbwa, kubviswa, uye kuunganidzwa kwemidziyo yekudya inokurumidza ine mativi mana mumasekondi 2.8-3.5, zvichivandudza kushanda kwayo neanopfuura 300% zvichienzaniswa nemabasa emaoko echinyakare. Chinonyanya kushamisa imhinduro yayo ye "1-out, 32-handle fully automated solution." Ichishandisa sisitimu yekuunganidza mibato ine mativi maviri ine mativi matatu, mhinduro iyi inobvumira kugadzirwa kwemibato yepurasitiki isina munhu, inoenderera mberi kubva pakuumbwa kwejekiseni kusvika pakurongedza, ichibvisa zvachose matambudziko ekushanda zvakanaka mukugadzirwa kwezvishongedzo zvekurongedza zvemadhiramu emafuta anodyiwa nemabhodhoro ezvinwiwa. Kushanda uku kwakakosha zvikuru mukuita kwekuzadza zvinwiwa. YAMAHA mativi matatu Bhodhi reRobhoti Inobata mabhodhoro akawanda nemazvo paminiti, uye kumhanya kwemhinduro yesystem yayo yeservo drive kunoita kuti mutsetse wekugadzira ushande nekukurumidza.

Kugona uku kudzora kwakarurama kunotsanangura patsva mwero wekururama mukugadzirisa chikafu. Mumutsara wekuisa zvinwiwa mubhokisi, sisitimu yeservo ine mativi matatu inodzorwa neMitsubishi FX5U PLC inogona kurongedza kufamba kweX-axis yakatwasuka, kukwidziridzwa kweY-axis, uye kugadziriswa kwekona yeZ-axis mukati memasekonzi maviri, nekukanganisa kwekuisa zvinhu kwakadzorwa zvakasimba mukati me ±0.1mm. Kururama uku kwekutonga kwe submillimeter kunopa mabhenefiti akasiyana mukuronga chikafu. Yakashongedzerwa netekinoroji yekuona, Yamaha Ruoko rweRoboticvanogona kupatsanura chikafu nemazvo zvichienderana nemaitiro akadai sechimiro, ruvara, uye saizi, vachiisa zvigadzirwa zvemhando dzakasiyana munzira dzakatarwa, zvichiita kuti pave nemikana mitsva yekugadzirisa chikafu zvakanaka.

Kuchinjika-chinjika ndiyo mukana mukuru wekukwikwidzana kwemarobhoti eservo ane mativi matatu mukupindura shanduko dzemusika. Kusiyana nemaitiro akagadzika emidziyo yechinyakare inongoerekana yagadzirwa, masisitimu emazuva ano eservo ane mativi matatu anoshandisa dhizaini yemodular inobvumira kuchinja nekukurumidza kwezvikamu zvekugadzira, zvichizadzisa zvinodiwa zvekugadzirwa kwezvigadzirwa zvakasiyana-siyana, kubva pamakapu etii yemukaka kusvika kumabhokisi ezvekudya zvinokurumidza, uye kubva kumabhodhoro ezvinwiwa kusvika pakurongedza chikafu. Dongguan Guangwei Digital Technology Co., Ltd. inopa mazana emamodheru emarobhoti, zvichibudirira kugonesa kugadzirwa kunochinjika munzvimbo dzakasiyana-siyana kune vatengi vakuru vakaita seYibao neYihe International. Mamodheru akasarudzika, akadai serobhoti reBullhead servo nerobhoti rakanyanya kuderera, rinotarisa zvipingamupinyi zvenzvimbo mumaworkshop ekugadzira chikafu.

Kusangana Kwehunyanzvi Kwetekinoroji: Kushanduka-shanduka Kwemarobhoti Emhando Yetatu Servo

Kana maalgorithms ekuona kwemuchina akasangana nekudzora kwakarurama kweservo, otomatiki yechikafu nechinwiwa iri kuchinja paradigm. Marobhoti eservo ane axis matatu haasisiri ma actuator ari nyore, asi akashanduka kuita mayuniti akangwara anobatanidza kunzwisisa, kuita sarudzo, uye kushandura. Iyo Vision-Robotics Experimental Platform yakatangwa naHefei Zhongke Shengu Technology inoratidza maitiro aya. Nekushandisa raibhurari yeOpenCV algorithm yekuziva mavara, kubvisa chimiro, uye FAST corner detection, pamwe chete neYOLOv5 object detection technology, iyo three-axis robotic arm inogona kuzvisarudzira yega zvinhu zvekudya mumhando dzakasiyana dzema packaging uye kushandura nemazvo pixel coordinates kuita world coordinates. Iyi "eye + hand" collaborative model yakaratidza simba rayo mukushanda. Ichishandisa tekinoroji iyi, iyo Yamaha robotic arm yakawana kuvandudzwa kwakangwara mukugadzirisa chikafu, ichideredza chiyero chekusaonekwa chichienzaniswa nekutarisa nemaoko kubva pa3% kusvika pasi pe0.1%.

Kubudirira kuri kuitwa mu multi-axis collaboration control technology kunoita kuti zvikwanisike kugadzirisa maitiro akaomarara. Mumutsetse wekugadzira zvinwiwa, PLC inodzora nemazvo ma parameter ekufamba kwe axis yega yega nekubatanidza DRVA absolute positioning instructions neDRVI relative positioning instructions. X-axis inoita 300mm displacement pa 5kHz frequency, Y-axis inoita 100mm lift and decrease pa 2kHz frequency, uye Z-axis inoita 90° rotation ichishandisa pulse width modulation. Kukanganisa kwenguva yemafambiro matatu aya kunochengetwa mukati me 10ms. Nekugadzirisa S-curve acceleration uye deceleration settings uye interpolation instructions, mainjiniya ekurayira haana kungobvisa splashing yezvinhu zvinokonzerwa ne mechanical impact chete asiwo akaderedza nguva ye single-cycle kusvika 60% yemidziyo yakajairika. Kurongeka uku kwakanyatsonaka kwakakosha mukugadzirwa kwe fast food containers. SW66 series yemarobhoti eSWECO, kuburikidza ne optimized motion parameters ye dual-section arms, inobudirira kugadzirisa dambudziko reindasitiri yezvigadzirwa zvakatetepa zvinogona kukanganiswa ne deformation.

Kugadzira zvinhu zvitsva zvine chekuita nehutsanana kwave chinhu chitsva chinokwikwidzana nehunyanzvi. Kuti zvizadzise zvinodiwa neindasitiri yezvekudya, chizvarwa chitsva chemarobhoti eservo ane axis matatu chakagadziridzwa zvakanyanya mukusarudza zvinhu uye dhizaini yemaumbirwo. Maoko erobhoti eYamaha anoshandisa zvinhu zvemhando yepamusoro zvekudya zvine hukasha hwepamusoro hunodzorwa kusvika pasi peRa0.8μm. Dhizaini yavo yakapfava, isina nzvimbo dzisingaonekwe, inovabvumira kutsungirira 85°C mvura inopisa uye maitiro ekuchenesa eCIP (CIP). Sisitimu yeE-SMART 100 track yakagadzirirwa neROLLON yeCoca-Cola ine dhizaini yakavharwa zvizere, ichideredza njodzi yekubuda kwemafuta. Chimiro chayo chakasiyana chekuvhara chinovimbisa kuvimbika kwenguva refu kunyangwe kutenderera katatu pazuva kwehutachiona. Izvi zvitsva zvinogonesa maoko erobhoti kutevedzera zvizere mitemo yakaoma senge FDA 21 CFR Chikamu 177 neEU 10/2011, zvichipa chipingamupinyi chehunyanzvi kukuchengetedza chikafu.

Mafambiro ekushandisa ruzivo rwakavhurika uye maitiro ekushandisa ruzivo rwakavhurika ari kuderedza chipingamupinyi chekusvika pakushandiswa kwetekinoroji. Zhongke Shengu's open-source robhoti rinoshanda pamwe chete rine mativi matatu Puratifomu iyi inopa maturusi akazara ekuvandudza, kubva pakuenzanisa kinematic kusvika pakudzora chaiko. Madhiraivha ayo akagadzirwa akazvimiririra uye ma controller anotsigira budiriro yepamusoro, zvichibvumira vagadziri kuvaka nekukurumidza maapplication ekubata nemaziso vachishandisa ROS system. Iyi open ecosystem inokurumidzisa kuvandudzwa kwetekinoroji. Siweike, ichishandisa magadzirirwo ayo e modular, yakakurumidza kuisa mhinduro dzakasiyana-siyana dzekuunganidza ma handle pamichina ye 400-650 ton injection molding. Kune makambani ezvekudya, modularization haingoderedzi chete mari yekutsiva michina asiwo zvinoreva kuti mitsetse yekugadzira inogona kuchinja kubva kumakapu etii yemukaka kuenda kumabhokisi ezvekudya zvinokurumidza mukati meawa imwe chete. Kuchinjika uku ndiko kwakakosha pakugadzirisa kusiyana kwevatengi.

Nzira Yekushandisa Fekitori Yeramangwana: Kubva Pakuvandudza Tekinoroji Kuenda Pakuvakazve Kukosha

Kuvandudzwa kwezvishandiso zvemagetsi muindasitiri yezvikafu nezvinwiwa hakusi kungotsiva michina chete, asi kugadziridzwa kwakazara kwemaitiro ekugadzira. Marobhoti eservo ane tambo nhatu, injini huru yekuchinja uku, ari kushandiswa zvakanyanya munzira ye "single-machine automation - production line collaboration - factory intelligence." Pakutanga, makambani ari kuwana kubudirira kuburikidza nekubudirira kwe single-point. Semuenzaniso, kutsiva manual assembly neSiweike's automated handle collection system kunogona kuderedza mari yevashandi ne80% uye kuwedzera kugona kwekugadzira kusvika ku30,000 pieces paawa. Kana mitsetse yekugadzira yasvika padanho rekubatana, marobhoti eservo ane tambo nhatu akawanda anobatanidzwa kuburikidza nePLCs neMES systems kuti vagadzire maitiro akabatana kubva pakugadzirisa zvinhu zvitsva kusvika pakurongedza zvigadzirwa zvakapedzwa. Kubatana uku kwakabatsira mitsetse yekugadzira yeCoca-Cola kuwedzera kushanda kwayo kwese kwemidziyo (OEE) kubva pa65% kusvika 89%.

Kugadzirisa zvinofanotaurwa nedata kuri kuva mukana mutsva wekukwikwidzana. Nekupinda kwetekinoroji yeIoT, masisitimu emazuva ano e-three-axis servo ikozvino ane kugona kwakazara kwekuziva mamiriro ezvinhu—kuongorora hutano hwemidziyo panguva chaiyo kuburikidza nekutarisa pulse ye encoder, kuongorora kwemota, uye kuwana vibration spectrum. Mumitsetse yekuzadza zvinwiwa, mainjiniya anotarisa shanduko dzeX-axis pulse value vachishandisa D8340 register, zvichiita kuti kufanotaura matambudziko angangoitika emakanika mazuva matatu zvisati zvaitika. Iyi modhi yekugadzirisa zvinofanotaurwa inoshandura "kugadzirisa kuputsika" kwechinyakare kuita "kugadzirisa kwakarongwa kwekudzivirira," kuderedza nguva yekusarongeka kwekudzikira kwemitsetse yekugadzira neinopfuura 70%. Yamaha yakawedzera pfungwa iyi kukutonga kwesimba. Masisitimu ayo eservo anoshandisa simba rinoshanduka kuderedza kushandiswa kwesimba payuniti ne15-20%, ichipa rutsigiro rwehunyanzvi kune zvinangwa zvemakambani ezvekudya zvekusapindirana kwecarbon.

Kubatana kwemarobhoti evanhu kuri kutsanangura patsva modhi yesangano rekugadzira zvinhu muchitoro. Kusiyana nekushanda kwemarobhoti echinyakare eindasitiri, chizvarwa chitsva chemarobhoti anoshanda pamwe chete ane mativi matatu anoshandisa tekinoroji yekusimbisa mhinduro uye yekutarisa kuchengetedzeka kuti zvigone kushanda pamwe chete nevanhu vanoshanda nevanhu. Munzvimbo dzekuronga chikafu, maoko emarobhoti anobata mabasa ekubata anodzokororwa, ukuwo vashandi vachitarisa pakuongorora mhando uye kubata zvinhu zvakasiyana. Kusanganiswa uku kunowedzera kubuda kwemunhu mumwe nemumwe ne50% ukuwo kuchideredza simba revashandi. Nzvimbo yekuyedza paHefei Zhongke Shengu yakaratidza kushanda kwemodhi iyi. Tekinoroji yayo yekutarisa nemaoko inovimbisa kururama kwekuisa marobhoti munzvimbo dzakasanganiswa dzemarobhoti evanhu, nepo maalgorithms ekudzora akazaruka achibvumira makambani kugadzirisa kupatsanurwa kwebasa remarobhoti evanhu zvichienderana nezvinodiwa chaizvo. Kune makambani ezvekudya, modhi iyi yekubatana inochinjika yakakodzera zvakanyanya mamiriro ekugadzira ane kushanduka kukuru kwemwaka.

Tichitarisira mberi, dhizaini inochengetedza zvinhu ichava mukana mukuru wekukwikwidzana kwemaoko e-servo robotic ane axis matatu. Sezvo pfungwa dzeESG dzichiwedzera kuwanda muindasitiri yekugadzira, michina haifanirwe kungosangana nezvinodiwa zvekugadzira chete asiwo kutevedzera mitemo yezvakatipoteredza. Makambani anotungamira ari kutanga kugadzira zvinhu zvitsva mukusarudza zvinhu, kushandisa simba, uye kutonga hupenyu hwese. Izvi zvinosanganisira kushandisa simbi isingatsvedzeri yakashandiswazve pakuvaka zvivakwa zvemakanika, kushandisazve simba remabhureki kuburikidza netekinoroji yekudzoreredza simba remotokari yeservo, uye kugadzira zvivakwa zve modular, zviri nyore kuparadzwa kuti zvidzokororwe zvakare. Izvi zvitsva zvakaderedza simba remuchina neanopfuura 30% muhupenyu hwayo hwese. Mushumo weQYResearch unoratidza kuti michina ye automation inochengetedza zvinhu iri kuwana kufarirwa kwakanyanya pakati pemakambani ezvekudya, nekukura kwemusika wayo ne2-3 muzana yakakwira kupfuura yemidziyo yechinyakare.

Mhedziso: Unyanzvi hweKuenzanisa Kururama uye Kuchinjika

Pakati pehuwandu hwezvishandiso zvemagetsi muindasitiri yezvikafu nezvinwiwa, zvinhu zvitatu zvinobatanidzwa marobhoti eservo vari kugadzirisa ketani yekugadzirwa kwezvinhu nezvakanaka zvavo zvetekinoroji. Kubva pakushanda zvakanaka kweSiweike's 32-hole handle automation system, kusvika pakuzivikanwa kwakarurama kweYamaha's visual sorting, kusvika pakushanda pamwe chete kweCoca-Cola's production lines, maitiro aya matsva anoratidza musimboti mukuru: chinangwa chikuru chekugadzira chikafu otomatiki hachisi chekutsiva vanhu nemichina, asi kuwana chiyero chakaenzana chekushanda zvakanaka, kuchengetedzeka, uye kuchinjika kuburikidza nekupa simba tekinoroji.