Maumbirwo eRobhoti Rinoumba Injection Robhoti Rine Mativi Mashanu

Maumbirwo eMuchina weInjection yeFive-Axis Robhoti rekuumba: Ongororo Yekutanga yeKushanda Kwakanaka uye Kushanda Pamwe Chete

Mukugadzira otomatiki kwejekiseni remazuva ano, marobhoti ekugadzira majekiseni mashanu akabatana, nehunyanzvi hwavo hwekushanda hunochinjika uye hune mativi akawanda, hwave midziyo inokosha yekuvandudza kushanda zvakanaka kwekugadzira uye kuderedza mari yevashandi. Kushanda kwavo kwakanaka kunotungamirirwa nehurongwa hwemakanika hwakagadzirwa zvakanaka—kubva pauniti yekutyaira kusvika kueffector yekupedzisira—uko kushanda kwakarongeka kwechikamu chimwe nechimwe kunosarudza mashandiro erobhoti mukubata nekukurumidza, nzvimbo chaiyo, uye kufamba kwakaoma kwenzira. Chinyorwa chino chichapa ongororo yakadzama yechimiro chemakanika cherobhoti rekugadzira injection rema axis mashanu, zvichiratidza hukama huripo pakati pekushanda kwemidziyo nekugadzirwa kwechimiro, zvichibatsira makambani kuita sarudzo dzakanyatsojeka dzekusarudza michina panguva yekuvandudza otomatiki.

Magadzirirwo Ekutanga: "Chimiro Chemapfupa" cheSisitimu Yekufamba Kwemasevhisi Mashanu

Maumbirwo emuchina werobhoti rinogadzira majekiseni mashanu akavakirwa pahurongwa hwekubatanidza hune majoini akawanda. Nekubatanidza majekiseni matatu akatsetseka (X, Y, naZ) nemajekiseni maviri anotenderera (A naB), inoita kuti ikwanise kufamba muzvikamu zvitatu. Magadzirirwo aya anopfuura miganho yekufamba kwezvinyakare zvitatu-Marobhoti Akisi, zvichiratidza mabhenefiti makuru mukubata zvikamu zvakaumbwa zvisina kujairika uye kubvisa zvikamu kubva muzviumbwa zvakaoma.

Mamodule emutsetse wetambo: X-axis (kufamba kwedivi), Y-axis (kuenderera mberi nekumashure), uye Z-axis (kusimudza kwakatwasuka) zvinowanzo shandisa musanganiswa wemaguidhi emutsetse akanyatsogadzirwa nemasikuruu ebhora. Maguidhi aya akagadzirwa nesimbi yakaoma ine nzvimbo yakatsetseka. Pamwe chete nemasiraidhi ane preload inogadziriswa, anovimbisa zvikanganiso zvemutsara mukati me0.02mm/m panguva yekufamba. Masikuruu ebhora akabatana zvakananga nemota yekutyaira kuburikidza nenzungu, zvichishandura kufamba kwemota kuita kutenderera kwemutsetse. Izvi zvinoita kuti transmission ishande zvakanaka kupfuura 90%, zvakanyanya kupfuura masisitimu ekare erack nepinion, zvichideredza kurasikirwa kwesimba.

Majoini eRotary axis: A-axis (kutenderera kweruoko) uye B-axis (kutenderera kweruoko) ndizvo zvinhu zvakakosha pakugadzirisa mamiriro akaomarara. Zvidzikisi zveharmonic zvine hungwaru zvakanyanya zvinoshandiswa mukati memajoini, nekudzorwa kwemashure kunodzorwa kusvika mukati meminiti imwe chete yearc. Pamwe chete nehukuru hwe radial neaxial hwema crossed roller bearings, zvinovimbisa kuburitsa kwakasimba uye kururama kwe 0.1°. Muzviitiko zvekushanda nekukurumidza, kumhanya kwe dynamic response kwe rotating axis kunogona kusvika 500°/s, zvichizadzisa zvinodiwa zvekugadzira nekukurumidza kuchinja.

Sisitimu Yekutyaira: "Musungo" weSimba Rinobuda Nesimba

Sisitimu yekutyaira yerobhoti rine mativi mashanu inoshanda se "mhasuru," ichipa simba rinodzorwa nemazvo pakufamba kwe axis yega yega. Parizvino, mhinduro dzema drive makuru dzakarongwa se servo motors ne stepper motors. Servo drives, nerubatsiro rwadzo mu closed-loop control, ndiyo inonyanya kutungamirwa mukugadzirwa kwe high-end injection molding.

Mayuniti eServo drive ane servo motor, encoder, uye driver. Mota iyi inoshandisa rare earth permanent magnets, ichipa torque density yakakwira uye simba rakagadzikana rinobuda kunyangwe pakumhanya kwakaderera. Resolution ye encoder inowanzo kusvika 20 bits (1,048,576 pulses per revolution). Pamwe chete nePID control algorithm yemutyairi, izvi zvinoita kuti chikanganiso chekudzora chinzvimbo chive ≤0.01mm. Muzviitiko zvekubviswa kwezvikamu zvinomhanya zvakanyanya, nguva dzekumhanyisa uye kudzikamisa kweservo system dzinogona kudzorwa mukati memasekondi 0.1, nguva dzekusangana kwemuchina dzinopfuura 120 cycles paminiti.

Dhizaini yeKubatanidza Kutakurwa: Sisitimu yekufambisa nebhandi rinofamba zvakabatana kuburikidza nekubatanidza kunochinjika kana bhandi rinochinjika. Kubatanidza kwakabatana kunogona kutsiva kusarongeka kwekuisa uye kuderedza kukanganiswa kwemitoro yekuvhunduka pamota. Madhiraivha ebhandi anochinjika akakodzera kutakurwa kwesimba kure. Muviri wavo webhandi repolyurethane uye chimiro chesimbi chewaya chesimbi zvinovimbisa kururama kwekutakurwa uku zvichitsungirira kusakara nekupwanyika kwemaawa anopfuura zviuru gumi ekushanda nguva dzose.

Mugumisiro Wekupedzisira: "Ruoko" rweKushanda Kwekubatana

Chinogadzirisa magumo (gripper) ndicho chinhu chinoshanda zvakananga ne Ruoko rweRobhoti uye chikamu chakaumbwa nejekiseni. Magadzirirwo acho anofanira kugadziriswa zvichienderana nehunhu hwechigadzirwa. Mhando dzakajairika dzinosanganisira magripper emhepo, macup ekukweva vacuum, uye zvishandiso zvemagineti. Chinangwa chayo chikuru ndechekuchinja nekukurumidza uye kushanda pamwe chete neruoko rwerobhoti.

Magadzirirwo Ekupedzisira Effector: Chinobatirira chepneumatic chinoshandisa dual-piston drive ine adjustable gripping force range ye5-500N. Chine silicone kana polyurethane fingers kuti chigamuchire zvikamu zvakaumbwa nejekiseni zvezvinhu zvakasiyana-siyana uye maumbirwo. Kapu yekusveta vacuum inoshandisa Venturi generator kugadzira negative pressure ye -80kPa. Chinobatirira chimwe chete chinogona kubata anopfuura 5kg, zvichiita kuti chinyatsokodzera zvikamu zvepurasitiki zvakakura, zvakati sandara. Mamwe mamodheru emhando yepamusoro ane ma interfaces anochinja-chinja nekukurumidza, zvichideredza nguva yekuchinja-chinja kusvika pasi pemasekondi makumi matatu, zvichizadzisa zvinodiwa zvekugadzirwa kwakasiyana-siyana, kushoma.

Dhizaini yekuenzanisa mutoro: Chinoisa mutoro chinoiswa pakubatana pakati pe end effector neruoko kuti chitarise huremu hwekubata panguva chaiyo. Kana mutoro wacho wapfuura mwero wakatarwa (kazhinji 120% yemutoro wakatarwa), sisitimu iyi inotanga otomatiki nzira yekudzivirira, ichimisa kufamba uye ichiburitsa alarm kudzivirira kukuvara kwechimiro chemuchina nekuda kwekuremerwa. Dhizaini iyi inobvumira robhoti kuti igone kutakura mitoro inorema kubva pa5 kusvika ku50 kg, ichifukidza zvinodiwa pakugadzira kubva kuzvinhu zvidiki zvemagetsi kusvika kuzvikamu zvikuru zvepurasitiki zvemotokari.

Chimiro chekutsigira: "Gutu" rinovimbisa kugadzikana

Chimiro chekutsigira chinosanganisira zvinhu zvinotakura mutoro zvakaita sehwaro, makoramu, uye matanda. Kuomarara kwaro uye dhizaini yaro yakareruka zvinokanganisa zvakananga kufamba kwerobhoti uye kushandiswa kwesimba. Marobhoti emazuva ano ane axis mashanu anowanzo gadzira dhizaini yemodular, achishandisa finite element analysis kuti awedzere kugoverwa kwesimba rekuvaka.

Kusarudzwa kwezvinhu nezvinhu: Makoramu nematanda zvinowanzogadzirwa nemapurofayiri ealuminium alloy ane simba guru (akadai se6061-T6), anodized kuti adzivirire ngura uye arambe achikura. Simbi inosimbiswa inoiswa munzvimbo dzinotakura mutoro, ichideredza huremu hwese ne30% uku ichivimbisa kushanduka kwe static kwe ≤0.5mm/m. Hwaro hwacho hwakagadzirwa nesimbi yakakandwa, uye kurapwa kwekukwegura kunobvisa kushushikana kwemukati, zvichiita kuti mashandiro agare akasimba.

Dhizaini inokweva uye inodzivirira: Mapedhi anokweva anokweva anoiswa pakati pechimiro chekutsigira nepasi, achikweva anopfuura 90% ekudengenyeka kwemhepo kwakanyanya. Zvivharo zvinodzivirira zvinodzoreka zvinoiswa zvakatenderedza zvikamu zvinofamba, zvakavakwa nekanzuru yenylon ine layer yakawanda uye chimiro chesimbi chakagadzirwa nefuremu. Anowana chiyero cheIP54 uye anodzivirira zvinobudirira kubva kuguruva nemafuta muworkshop yekugadzira majekiseni.

Kukosha Kwekugadzira Kunokonzerwa Nezvakanakira Zvekuvaka

Dhizaini yemuchina werobhoti remuchina wekugadzira majekiseni mashanu inosimbisa kushanda kwekugadzira uye kunaka kwechigadzirwa. Kubatana kwayo kwe-multi-axis kunowedzera mwero wekugadzirisa nzira yekubvisa zvikamu ne40%, zvichiita kuti zvikamu zvibatwe panguva imwe chete kubva kunzvimbo dzakawanda muzviumbwa zvakaoma pasina kukanganiswa kwemukati. Kuisa panzvimbo kwakanyatsorongeka (kudzokororwa ≤±0.05mm) kunoderedza njodzi yekubonderana pakati pezvikamu nezviumbwa, zvichideredza mwero wekukanganisa kusvika pasi pe0.1%.