Kushandiswa kwakananga kwekushandisa servo manipulator ine axis nhatu mukuronga mishonga nekurongedza

Mashandisirwo Akananga eThree-Axis Servo Robots muKuronga neKurongedza Mishonga

Marobhoti eServo ane Axis nhatu: Kugadzirisa Kubudirira Kwemishonga Mukuronga Nekurongedza Mishonga

Zvichitungamirirwa nezvinodiwa zvemhando yepamusoro zveindasitiri yemishonga uye kudiwa kwekugadzirwa kwakanaka, michina yekuzvigadzira otomatiki yave chinhu chikuru chinotungamira kuvandudzwa nekushandurwa kwemakambani emishonga. Marobhoti eservo ane tambo nhatu, nekubatsira kwavo kukuru kwekudzora kwakarurama, kushanda kwakasimba, uye kuchinjika, vakachinja basa ravo mukuronga mishonga uye kurongedza kubva pa "zvishandiso zvekubatsira" kuenda ku "zvikamu zvekugadzira zvakakosha." Chinyorwa chino chichaongorora mamiriro avo chaiwo ekushandisa, kukosha kwehunyanzvi, uye pfungwa dzekushandisa dzinoshanda munharaunda iyi, zvichipa referensi yekuvandudzwa kwe otomatiki kwemakambani emishonga.

I. Zvinodiwa muIndasitiri yeMishonga: Sei Uchifanira Kusarudza Marobhoti eServo ane Axis Three-Axis?

Hunhu hwakasiyana hwekugadzirwa kwemishonga hunotonga zvinodiwa zvakasimba zvemichina inoshanda otomatiki: mwero wekuchena wakabvumidzwa neGMP, kunyatsorongeka kwehuwandu hwe milligram, kushanda kwakasimba kwemaawa makumi maviri nemana, uye kuchinja nekukurumidza pakati pezvinodiwa zvechigadzirwa zvakasiyana-siyana. Kurongeka kwechinyakare nemaoko uye kurongedza hakungosanganisi chete nezvinetso zvekushanda zvakanaka (avhareji yekugona kurongeka kwezuva nezuva pamunhu i3,000-5,000 zvidimbu chete), asiwo kune njodzi dzemhando dzakadai sekusanganiswa kwemishonga uye kuderedzwa kwemitengo kunokonzerwa nekukanganisa kwevanhu. Zvisinei, michina yemazuva ano yekufema inogumira mukushaikwa kwekunyatsorongeka kwekutonga uye kufamba-famba zvisina kurongeka, zvichiita kuti isakodzere kushandiswa mumishonga.

Kubuda kwemativi matatu Servo Manipulators inogadzirisa dambudziko iri. Sisitimu yavo yekufamba inofambiswa nemota yeX, Y, uye Z-axis inoita kuti ive chaiyo yekuisa zvinhu panzvimbo yayo ye0.1mm. Pamwe chete nenzira dzekufamba dzinogona kurongwa uye mhinduro yekumanikidza, inosangana nezvinodiwa zvekushanda zvisina guruva mumakamuri ekuchenesa uku ichinyatsoenderana nezvinodiwa zvemhando dzakasiyana dzemuyero (mapiritsi, makapisiri, zvinwiwa zvinonwiwa, nezvimwewo), zvichiita kuti ive sarudzo yakanaka yekurongedza nekugadzira mishonga otomatiki.

II. Kushandiswa Kwakakosha Chiitiko 1: Kudzora Kwakarurama Kwekuronga Mishonga

Kuronga ipfungwa yakakosha mukugadzirwa kwemishonga, inoda nzira yakazara ye "kuziva - kubata - kupatsanura - kutamisa." Kushandiswa kwemarobhoti eservo ane mativi matatu mukuita uku kunogona kukamurwa kuita zviitiko zvikuru zvitatu:

(I) Kurongeka Kwakarurama Kwemafomu Emushonga Wakawanda
Kune mishonga yakasiyana-siyana, yakadai semapiritsi, makapisi, uye masoftgel, marobhoti eservo ane mativi matatu anogona kurongeka zvakanaka nekuvapa zvinhu zvinogadzirisa zvinhu. Semuenzaniso, pakurongeka kwepiritsi, muchina wekusveta muchina wevacuum suction cup unoshandiswa. Sisitimu yeservo inodzora kumanikidzwa kwemuchina wekusveta (0.02-0.05 MPa), ichivimbisa kubata kwakasimba kwemapiritsi ane dhayamita kubva pa3-15 mm uku ichidzivirira kutyoka kunokonzerwa nekumanikidzwa kwakanyanya. Kune makapisi, muchina unochinjika unoshandiswa panzvimbo pezvo, uchishandisa simba rekudzora simba remota yeservo kuchengetedza simba rekubata re5-10 N, kudzivirira kushanduka uye kubuda kwemvura.

Panyaya yekushanda zvakanaka pakuronga, robhoti reservo rine mativi matatu rine mukana mukuru. Tichitora mitsetse yekuronga mapiritsi emakambani madiki nepakati emishonga semuenzaniso, mitsetse yekuronga nemaoko yechinyakare inogona kugadzirisa mapiritsi angangoita 8,000-10,000 paawa. Zvisinei, mitsetse yekuronga otomatiki ine marobhoti eservo ane mativi matatu, kuburikidza nekubatana nekukurumidza pakati peX neY axes (kumhanya kwakanyanya kwe1.5 m/s), inogona kuwedzera kugona uku kusvika pamapiritsi 30,000-40,000 paawa. Mwero wekukanganisa kwekuronga unochengetwa pasi pe0.01%, wakaderera zvikuru pane mwero wekukanganisa we0.5% wekuronga nemaoko.

(II) Kurongwa Kwakanangana Kwenhamba Dzemishonga
Mitemo yemishonga inoda kuti boka rega rega remishonga riparadzirwe roga roga uye ritevedzwe nemazvo, zvichiisa kudiwa kwakanyanya pakugona kwekuziva batch yemaitiro ekuronga. Robhoti reservo rine mativi matatu, rakabatana nesystem yekuziva kuona, rinoita otomatiki maitiro e "batch number identification - precise sorting - targeted transfer." Visual system inotanga yatora ruzivo rwebatch number (barcode kana QR code) papakeji yemishonga. Ichishandisa algorithm, inokurumidza kududzira data rebatch number uye yotumira kune Kambani yeRobotsystem yekudzora. Zvichibva pamitemo yekupatsanura nhamba dzebatch yakatogadzwa, system yacho inozobatanidza ma axes eX, Y, uye Z kuti vatumire mishonga kubva kuma batches akasiyana kuenda kumabin avo anoenderana. Maitiro ese anotora asingasviki 0.5 seconds, zvichibvisa zvachose njodzi yekusanganiswa kwema batch.

Kushandiswa kwemushonga uyu muchitoro chemishonga chekambani hombe yemishonga kwakaratidza kuti huwandu hwemishonga inotorwa nemaoko hwakaderedzwa kubva pa15% kusvika pa0.3%, kushanda zvakanaka kwemushonga kwawedzera kana, uye mushonga uyu wakabudirira kupasa bvunzo dzisina kuziviswa nemasangano anoona nezvemishonga.

(III) Kurambwa otomatiki kweZvigadzirwa Zvisina Kunaka
Munguva yekugadzira mishonga, huwandu hushoma hwezvigadzirwa zvisina kunaka (senge mapiritsi asina kuumbwa zvakanaka uye makapisiri anodonhedza) zvinogadzirwa nekuda kwezvinhu zvakaita sekukanganisa kwezvinhu zvakabikwa uye kusiyana kwemaitiro. Kurambwa nemaoko kwechinyakare hakusi kungoshanda zvakanaka chete asiwo kunowanzo kanganiswa kuongororwa. Robhoti reservo rine mativi matatu, pamwe chete nemaitiro ekutarisa nekuona uye kuona huremu, rinobvumira kurambwa kwakanyatsojeka kwezvigadzirwa zvisina kunaka. Sisitimu yekuona inoona zvikanganiso zvekushongedza mumishonga, nepo sensor yehuremu ichiona kutsauka kwehuremu (nekurongeka kwe ±0.01g). Kana chigadzirwa chisina kunaka chaonekwa, sisitimu inotumira chiratidzo kurobhoti, iyo inogadzirisa nekukurumidza nzira yayo, inobata chigadzirwa, uye ichichiendesa kubhini remarara. Nguva yekupindura kurambwa ingori 0.3 masekondi, ine mwero wekururamiswa we99.99%.

III. Kushandiswa Kwakakosha Chiitiko Chechipiri: Kushanda Pamwe Chete Mukugadzira Mishonga

Kurongedza ndiro danho rekupedzisira mukugadzirwa kwemishonga, rinoda maitiro akasiyana-siyana, anosanganisira kuisa makatoni, kuvhara, kunyora mazita, uye kuisa ma pallet. Robhoti reservo rine mativi matatu, kuburikidza nekubatanidzwa kwakadzama nemutsetse wekugadzira ma pallet, rinowana kushanda pamwe chete kwakanaka mumaitiro aya.

(I) Kubatanidzwa otomatiki kweCartoning neSealing yeMishonga

Mukugadzirisa mabhokisi emapiritsi nemakapisi, robhoti reservo rine mativi matatu rinoita mabasa makuru e "kutwasanudza" uye "kurongedza." Tichitora muenzaniso wekuisa makapupisi, robhoti rinotanga rashandisa kufamba kweX- neY-axis kwakabatana kuti rigadzire zvakanaka makapupisi (12-24 makapisi papaketi) anopihwa kubva kuconveyor. Z-axis inobva yadzikisa gripper kuti iise makapupisi mumabhokisi ekurongedza. Maitiro ese anotora masekondi 0.8 chete pabhokisi. Munguva yekuisa mabhokisi mubhokisi, robhoti rinobatana nebhokisi rekuvharisa kuti ripete chivharo uye riise guruu. Sisitimu yeservo inodzora simba rekudzvanya (20-30N) kuona kuti mabhokisi ekuvharisa anosangana nezvinodiwa zvekutakura uye kudzivirira kukuvara uye kusvibiswa kwemishonga.

Mushure mekuvandudza muchina wavo wekurongedza makapisiri, kambani yemishonga yakashandisa marobhoti maviri eservo ane mativi matatu anoshanda pamwe chete. Izvi zvakawedzera kushanda zvakanaka kwekuisa mabhokisi nekuisa muchina kubva pamabhokisi zana nemakumi maviri paminiti kusvika pamabhokisi mazana maviri paminiti, uye mwero wekugamuchirwa kwemuchina wakawedzera kubva pa98.5% kusvika pa99.8%.

(II) Kurongeka Kwakarurama Kwemavara Emishonga

Mazita emishonga ane ruzivo rwakakosha rwakadai sezita remushonga, simba rawo, nhamba yebatch, uye zuva rekupera. Chero kutsauka pakuiswa kwemazita hakungokanganisi runako rwemushonga chete asiwo kunogona kutyora mitemo yemishonga. Robhoti reservo rine mativi matatu inowana kunyatsojeka kwemazinga e millimeter mukunyora mavara kuburikidza nemusanganiswa we "vision positioning + servo drive": Sisitimu yekuona inotanga yaona nzvimbo dzekutarisa dzebhokisi (dzakadai semakona nezviratidzo zvakadhindwa), inoverenga ma coordinates ekunyora mavara, uye inoatumira kurobhoti. Robhoti rinozofambisa musoro wekunyora mavara nema axes eX neY kuenda kunzvimbo yarongwa. Z axis inodzora kumanikidzwa kwekunyora mavara (0.1-0.2 MPa) kuti ive nechokwadi chekuti label iri kushanda zvakanaka, isina makwinya, nekutsauka kwenzvimbo mukati me ±0.5 mm.

Pakurongedza kusina kurongeka kwakadai semabhodhoro emishonga akatenderera, robhoti rinogonawo kushandisa axis inotenderera (axis yechina inosarudzwa) kuti iwane labeling ye360°. Sisitimu yeservo inofananidza kudzora kumhanya kuti ive nechokwadi chekuti kumhanya kunotenderera kwakafanana pakati pemusoro welabeling nebhodhoro, zvichiita kuti pave nekubatana kwakabatana pajointi yelabeling.

(III) Kuisa Pallet Yakangwara uye Kuchengeta Zvigadzirwa Zvakapedzwa

Mushure mekunge mishonga yapera kurongedza, inofanira kukurumidza kuputirwa uye kuchengetwa kuti nzvimbo yepasi iderere. Robhoti reservo rine mativi matatu rinogona kuverenga nzira yakakodzera yekuputira mabhokisi zvichienderana nehukuru, huremu, uye zvinodiwa pakuchengeta mabhokisi ekuputira. Kune mabhokisi emushonga akareruka (bhokisi rega rega rinorema pasi pe500g), chinhu chinopinza makumbo akawanda chinoshandiswa kubata nekuputira mabhokisi mana kusvika matanhatu panguva imwe chete. Kune mabhokisi emabhodhoro anopinza anorema (bhokisi rega rega rinorema 10-15kg), chinoshandisa gripper yemagetsi, ichishandisa simba rakawanda remota yeservo kuti ibate zvakasimba.

Panyaya yekururama kwekuisa mapellet, robhoti rinoshandisa kudzora kukwirira kwakavharwa paZ axis kuti rive nechokwadi chekuti kutsauka kwekuisa mapellets ebhokisi rega rega hakupfuure 1mm. Kureba kwekuisa mapellets kunogona kusvika 1.8-2.5m, uye robhoti rinogona kugadzirisa chimiro chepellets otomatiki (semuenzaniso, sikweya kana rectangular) zvichienderana nehukuru hwemasherufu ekuchengetera. Mushure mekushandiswa panzvimbo yekuchengetera mishonga, kushanda kwekuisa mapellets echigadzirwa kwakawedzera kubva pamabhokisi makumi masere paawa (anoshandiswa nemaoko) kusvika pamabhokisi mazana matatu paawa, zvichivandudza kushandiswa kwenzvimbo yekuchengetera zvinhu ne30%.

IV. Mabhenefiti Ehunyanzvi Hwepamusoro uye Sarudzo Pfungwa Huru dzeRobhoti reServo reThree-Axis

(I) Mabhenefiti Matatu Ehunyanzvi Akakodzera Kushandiswa Kwemishonga

Dhizaini Yenzvimbo Yekuchenesa: Ichishandisa muviri wesimbi isina ngura uye mafuta emhando yepamusoro echikafu, nzvimbo yakakwenenzverwa inotsungirira nzira dzekuuraya utachiona dzakadai sedoro nechiedza cheUV, ichisangana nezvinodiwa zveGMP Class 8 cleanroom uye inodzivirira kusvibiswa kwemishonga.

Sisitimu yeServo Yakarurama Uye Inodzorwa: Ichishandisa mamota eservo nemadhiraivha anobva kunze kwenyika, inotsigira nzvimbo, kumhanya, uye nzira dzekudzora simba. Kuchinja-chinja kunobvumira kubata zvinhu zvakapfava uye kubata zvinhu zvinorema zvakadzikama.

Kubatanidzwa Kunochinjika: Kutsigira nzira dzakawanda dzekutaurirana dzemaindasitiri dzakadai seModbus neProfinet, inobatanidzwa zvakanaka nemaitiro ekuona, masisitimu ekuyera, michina yekurongedza, nezvimwe zvishandiso, zvichiita kuti mutsetse wekugadzira uve otomatiki. Software yekugadzira mapurogiramu inobvumira kugadziriswa nekukurumidza kwematanho ekufamba, zvichigonesa kuchinjana kwemitsetse yekugadzira kune zvakasiyana-siyana zvemishonga (nguva yekuchinjana isingasviki maminetsi gumi).

(II) Zvinhu Zvikuru Zvinofanira Kufungwa Nemakambani Emishonga Pakusarudza Zvigadzirwa

Kuenzanisa Mutoro Nekufamba: Sarudza mutoro zvichienderana nehuremu hwemishonga iri kurongwa/kurongwa (kazhinji 1-50 kg). Sarudza mativi matatu nzvimbo yekufamba (500-3000 mm paX-axis, 300-2000 mm paY-axis, uye 200-1000 mm paZ-axis) zvichibva pahurongwa hweworkshop kuona kuti zvinodiwa pakugadzira zvinosangana nazvo.

Zvinodiwa paKuchena: Misangano yekugadzira mhando dzakasiyana dzemushonga, dzakadai sekubika nekuisa jekiseni, inoda mwero wakasiyana wehutsanana, ichida robhoti rine mwero wakakodzera wehutsanana (semuenzaniso, Kirasi 7 yakakodzera misangano yekuisa jekiseni).

Kugona Kwebasa Mushure meKutengesa: Kugadzirwa kwemishonga hakugone kukanganiswa, saka sarudza mugadziri anopa mhinduro yemaawa makumi maviri nemana uye zvinhu zvekuchengetedza nekukurumidza kuti ave nechokwadi chekugadzirisa panguva yakakodzera kana michina ikakundikana uye kuderedza kurasikirwa nenguva yekushanda kwemuchina.

V. Mhedziso: Kuvandudzwa kweOtomatiki Sarudzo Isingadzivisiki

Zvichitevera kukura kuri kuita indasitiri yemishonga mukuvandudza mhando, kusimudzira mashandiro, uye kutevedzera mitemo nekutevera, marobhoti eservo ane mativi matatu haasisiri maturusi ekugadzira chete; ndiwo anonyanya kukurudzira kuwana kururama, kushanda zvakanaka, uye njere mukusarudza mishonga nekurongedza. Kubva pakuronga mishonga yakawanda kusvika pakupedzisa kugadzira pallet, kubva pakutevedza nhamba dzemabatch kusvika pakuramba zvigadzirwa zvisina kunaka, kugona kwavo kuchinjika zvizere uye mabhenefiti etekinoroji ari kubatsira makambani akawanda emishonga kukunda matambudziko ekugadzira, kuderedza njodzi dzemhando yepamusoro, uye kuwedzera kukwikwidzana pamusika.