Ubuyobozi bw'Ingingo z'ingenzi zo kugerageza no kugerageza intwaro za roboti za Servo zifite umurongo wa gatatu

Ikintu ugomba gusoma mbere yo kugura: Ubuyobozi bw'ingingo z'ingenzi zo kugerageza no gupima ibice bitatu Servo Robot Hands

Mu rwego rwo kwihutisha imikorere y’inganda, amaboko ya roboti ya servo ifite axis eshatu, Kubera ubuhanga bwazo bwo hejuru n'ubudahangarwa bwazo, zabaye ibikoresho by'ingenzi mu nganda z'ikoranabuhanga, ibice by'imodoka, gupakira ibiribwa, n'ibindi. Ariko, kubera ibicuruzwa byinshi biri ku isoko, biragoye kumenya niba igikoresho gikwiranye n'ibyo ukeneye mu musaruro hashingiwe gusa ku mpapuro z'amakuru. Igerageza n'igeragezwa mbere yo kugura ni intambwe z'ingenzi zo kugabanya ibyago byo gushora imari no kwemeza ko imikorere ikora neza. Iyi nkuru izasesengura ingingo z'ingenzi zo kugerageza no kugerageza amaboko ya roboti ya servo ifite umurongo wa gatatu uhereye ku ngingo enye: gutegura mbere yo kugerageza, isuzuma ry'imikorere y'ingenzi, kugenzura umutekano, no gusuzuma imikoranire, kugira ngo bifashe abaguzi guhitamo neza ibikoresho bihuye n'ibyo bifuza.

I. Mbere y'igeragezwa: Imyiteguro itatu y'ibanze yo gupima neza

Gupima igerageza si "gufata ibikoresho no kubyatsa gusa." Kwitegura neza mbere y'igihe bishobora gukumira kunyura mu cyerekezo cy'igerageza no kongera agaciro k'ibisubizo. Turakugira inama yo gutangirira ku bintu bitatu bikurikira:

1. Sobanura intego z'ikizamini n'uko zihuye n'ibyabaye.

Ubwa mbere, sobanura neza intego z'ikizamini ukurikije ibyo ukeneye mu musaruro. Urugero:
Niba igikoresho gikoreshwa mu guteranya ibice by'ikoranabuhanga, shyira imbaraga mu gusuzuma "gusubiramo" no "uburyo bworoshye bwo kugenda";
Iyo ikoreshwa mu gutwara ibintu biremereye (urugero, ibice bipima ibiro birenga 5kg), shyira imbaraga ku "bushobozi bwo gutwara imizigo" na "guhagarara neza kwa moteri ya servo";
Niba igomba gushyirwa mu murongo usanzwe ukoreshwa, ni ngombwa kandi kwemeza mbere y'igihe ko "ingano y'igikoresho", "interface yo gushyiramo", n'imiterere y'ikigo.

Birasabwa gukora "Urutonde rw'Ibisabwa mu Bipimo" no gusobanura neza "ibipimo ngenderwaho by'ibizamini" kuri buri kintu cy'ibizamini (urugero, gusubirwamo bigomba kuba ≤ ± 0.02mm) kugira ngo hirindwe ibyemezo bibogamye nyuma bitewe n'isuzuma ry'ibitekerezo by'umuntu ku giti cye.

2. Tegura ahantu hakwiye ho gupimisha n'ibikoresho

Imikorere y'ukuboko kwa roboti ya servo ifite umurongo wa gatatu igirwaho ingaruka zikomeye n'ibidukikije, bityo ibidukikije bigomba kwigana neza imiterere nyayo y'umusaruro:

Ibisabwa mu mwanya: Teganya "ingendo z'umutekano" zihagije zo gutwara igikoresho (reba amakuru y'ingendo z'umurongo uri ku rupapuro rw'amakuru rw'igikoresho, urugero: 300mm kuri X-axis, 200mm kuri Y-axis, na 150mm kuri Z-axis, kandi wemererwe umwanya w'inyongera wa 10%-20%.

Ingufu n'Isoko y'Umwotsi: Emeza ko ingufu z'amashanyarazi (urugero, AC 220V/380V) n'umuvuduko w'umwuka (urugero, 0.5-0.7MPa) bihuye n'ibisabwa n'igikoresho kugira ngo hirindwe imikorere mibi ya moteri ya servo iterwa no kudahuza kw'amashanyarazi.

Ibikoresho byo Gupima: Tegura ibikoresho byo gupima neza cyane (urugero: mikorometero, interferometero ya laser), ibikoresho byo gupima imizigo (urugero: ibyuma bifite uburemere bukwiye), n'ifishi yo kwandika amakuru (kugira ngo wandike amakuru y'ibizamini n'ibitagenda neza).

3. Sobanura amakuru y'inkunga yo gupima hamwe n'umutanga serivisi.

Ganira n'umutanga serivisi mbere y'igihe kugira ngo isuzuma rigende neza:

Niba ubuyobozi bwa tekiniki buzatangwa aho hantu kugira ngo hirindwe kwangirika kw'ibikoresho bitewe n'imikorere idahwitse;

Niba igeragezwa rya porogaramu zihariye (nk'igereranya rya "grasp-move-place" cycle ikoreshwa mu gukora) byemewe;

Iyo imikorere itujuje ibisabwa mu gihe cyo gupima, haba hari uburyo bwo guhindura ibipimo cyangwa gusimbuza igikoresho cy’imashini.

II. Isuzuma ry'imikorere y'ibanze: Kwibanda ku bipimo bitanu by'ingenzi kugira ngo hamenyekane ubuziranenge n'ubudahindagurika bw'ibikoresho

Agaciro k'ingenzi k'ukuboko kwa roboti ya servo ifite umurongo wa gatatu kari mu "gupima neza cyane" na "guhagarara neza cyane." Ikizamini cyibanda ku kugenzura ibipimo bitanu bikurikira. Buri kizamini kigomba gusubirwamo inshuro 3-5, kandi agaciro mpuzandengo kakabarwa kugira ngo hagabanywe amakosa.

1. Gusubiramo: "Umuyoboro w'ubuzima" w'ikoreshwa ry'inganda

Gusubiramo bivuga ku kunyura mu mwanya w'igikoresho cyo kurangiza (nk'icyuma gifata ibikoresho) nyuma y'uko igikoresho gikoze igikorwa kimwe inshuro nyinshi. Ni igipimo cy'ingenzi mu bikorwa nko guteranya ibikoresho by'ikoranabuhanga no gusudira neza.​
Uburyo bwo Gupima:
Shyira ikimenyetso cy'aho uhagarara ku mpera y'ukuboko kwa robo hanyuma ushyireho ikimenyetso cy'aho uhagarara n'aho uhagarara (nk'agapira ko gushyira aho uhagarara ku buso bw'akazi).
Andika porogaramu kugira ngo ukuboko kwa robote kwimure ikimenyetso cy'aho ugana aho ugana hanyuma wandike igipimo cy'ikimenyetso cy'aho ugana.
Subiramo iki gikorwa inshuro eshanu hanyuma ubare itandukaniro riri hagati y’ibipimo ntarengwa n’ibipimo ntarengwa. Ibi bigaragaza ubushobozi bwo gusubiramo.
Ibipimo by'impamyabushobozi: ​
Amaboko ya roboti ya servo yo mu rwego rw'inganda ikoresha umurongo wa gatatu asaba ubushobozi bwo gusubiramo bwa ≤±0.05mm, mu gihe ibikoresho byo mu rwego rwo hejuru bisaba ubushobozi bwo gusubiramo bwa ≤±0.02mm (bitewe n'ibyo ukeneye mu gukora, urugero, guteranya ecran ya telefoni igendanwa bisaba ≤±0.01mm).
Icyitonderwa: Mu gihe cyo gupima, hagarika akazi ko "gutanga indishyi z'amakosa" (hari ibikoresho bifite indishyi zihoraho, ibyo bikaba bishobora guhisha ukuri kw'ukuri). Menya neza ko ubuso bw'akazi budafite imitingito (koresha udupapuro two kurwanya imitingito hasi).

2. Gushyira ahantu neza: Kwemeza ko inzira y'umuhanda imeze neza

Uburyo bwo gushyiramo ibintu neza bivuga itandukaniro riri hagati y’aho igikoresho giherereye n’aho giherereye nyuma y’uko igikoresho gikoze ingendo, ibyo bikaba bigira ingaruka ku buryo igikorwa gikomeza. Uburyo bwo Gupima:
Koresha interferometero ya laser kugira ngo ukore sisitemu yo gupima, kandi ushyiremo agakoresho ko kugarura urumuri ku mpera y'ukuboko kwa robo.
Hitamo amanota 5-8 y'igerageza mu rugero rw'ingendo za X, Y, na Z (urugero, kuva kuri 0mm kugeza ku rugendo ntarengwa kuri X axis, hitamo ingingo imwe kuri buri 50mm).
Genzura ukuboko kwa roboti kuri buri ngingo yashyizweho, wandike aho umurongo nyawo unyura ugaragazwa na interferometer ya laser, hanyuma ubare aho umurongo ntarengwa unyura mu ngingo zose.

Ibipimo by'Impamyabushobozi: Ubuziranenge bw'aho uherereye bugomba kuba ≤ inshuro ebyiri z'ubusubirwamo (urugero, ubusubirwamo ± 0.02mm, ubuziranenge bw'aho uherereye ≤ ± 0.04mm), kandi ihinduka rigomba kuba rihamye (nta guhindagurika gutunguranye).

3. Ubushobozi bwo gutwara imizigo: Emeza "Umupaka w'Umutwaro" w'Ibikoresho

Ubushobozi bwo gutwara imizigo bwerekeza ku buremere ntarengwa (harimo n'uburemere bw'icyuma gifata) impera y'ukuboko kwa roboti ishobora gushyigikira ku muvuduko ugenwe. Kurenza umutwaro ugenwe bishobora gutuma moteri ya servo ishyuha cyane, ikagabanya umuvuduko wo kugenda, cyangwa ndetse ikangiza ibikoresho. Uburyo bwo gupima:

Shyiramo icyuma gisanzwe cyo gukoreshya ku mpera y'ukuboko kwa robo (uburemere bwiyongera buhoro buhoro kuva kuri 50% kugeza kuri 120% by'umutwaro wagenwe. Urugero, niba umutwaro wagenwe ari 5kg, gerageza uburemere bwa 2.5kg, 5kg, na 6kg).

Shyiraho umurongo ku kuboko kwa robo kugira ngo urangize uruziga rwa "lift + translation" ku muvuduko wagenwe (reba urupapuro rw'amakuru rw'igikoresho, urugero, umuvuduko ntarengwa wa X-axis wa 500mm/s) (gerageza uruziga 10 kuri buri mutwaro).

Reba uko igikoresho gihagaze: niba umuvuduko ugabanuka, urusaku rudasanzwe rwa moteri, cyangwa inzogera (nk'umubyigano mwinshi).

Ibisabwa mu gutanga impamyabushobozi:

Mu gihe cy'umutwaro ugenwe, igikoresho ntikigomba gutanga urusaku rudasanzwe cyangwa inzogera, kandi umuvuduko w'ingendo ugomba kuba uhuye n'urupapuro rw'amakuru. Ku kigero cya 110%-120% cy'umutwaro ugenwe, umuvuduko muto wemewe (≤10%), ariko nta nzogera cyangwa kuzimya byemewe.

4. Umuvuduko n'Iterambere: Bigira ingaruka ku musaruro mwiza

Umuvuduko n'umuvuduko bigena mu buryo butaziguye imikorere ya robo. Isuzuma rigomba gukorwa hakurikijwe ibisabwa mu gihe cyo kuyikora kugira ngo harebwe ko igikoresho gishobora kugera ku musaruro witezwe.
Uburyo bwo Gupima:
Koresha icyuma gipima igihe kugira ngo wandike igihe robot ifata kugira ngo irangize "intera iri hagati ya A na B" (intera izwi, nk'ingendo ya 200mm X-axis) hanyuma ubare umuvuduko nyawo (umuvuduko = intera / igihe).
Gerageza ingendo ya robo ku muvuduko utandukanye (urugero, kongera umuvuduko kuva kuri 0.5m/s² kugeza kuri 1.5m/s²) kugira ngo urebe niba hari "guhinda umushyitsi" cyangwa "gusimbuka cyane" (ni ukuvuga gusubira inyuma nyuma yo kurenza aho washyizwe).

Ibisabwa mu gutanga impamyabushobozi:
Umuvuduko nyawo ugomba kuba ≥ 90% by'agaciro kavuzwe mu rupapuro rw'amakuru (urugero, niba urupapuro rw'amakuru rugaragaza umuvuduko ntarengwa wa X-axis wa 600mm/s, umuvuduko nyawo ugomba kuba ≥ 540mm/s). Mu gihe cyo guhindura umuvuduko, ingendo zigomba kuba nziza, nta gukubita cyane kugaragara (gukubita cyane bigomba kuba ≤ ± 0.1mm).

5. Guhorana Ireme mu Mikorere: Kwigana Imiterere y'Umusaruro w'Igihe Kirekire

Itsinda Robot MIkoreshwa mu gihe cy'amasaha 8-12 mu nganda. Gupima ubuziranenge bishobora kugaragaza ibibazo bishobora guterwa n'imikorere y'igihe kirekire (urugero: gushyuha cyane kwa moteri, guhuza insinga nabi). Uburyo bwo gupima:

Kora gahunda y'uruziga yigana umusaruro nyawo (urugero, "fata - shyira - subiza aho waturutse," buri ruziga rumara amasegonda 10).

Koresha ibikoresho mu gihe cy'amasaha 4 ukomeza, wandike amakuru y'ingenzi buri minota 30: ubushyuhe bwa moteri ya servo (bupimwe hakoreshejwe thermometer ya infrared, ubusanzwe ≤60°C), urusaku rw'imikorere (rupimwe hakoreshejwe icyuma gipima urusaku, ubusanzwe ≤70dB), n'imburira iyo ari yo yose.

Nyuma yo gukoresha, ongera ugerageze niba ubushyuhe bwaragabanutse kugira ngo umenye niba ubushyuhe bwaragabanutse.

Ibisabwa mu gutanga impamyabushobozi:

Nta mpungenge cyangwa urusaku rudasanzwe mu gihe cy'imikorere ihoraho, ubushyuhe bwa moteri buhamye (itandukaniro ry'ubushyuhe ≤10°C); gutandukana gusubirwamo nyuma yo gukoresha ni ≤15% by'agaciro k'ikizamini cya mbere.

III. Isuzuma ry'umutekano n'uburyo ibintu bihuye: Kwirinda imbogamizi zo guhangana n'imihindagurikire y'ikirere nyuma

Uretse imikorere y'ingenzi, umutekano no guhuza ibikoresho bigira ingaruka zitaziguye ku "kiguzi cyo kugwa kw'ibikoresho." Kwirengagiza ibi bizamini bibiri bishobora gutera impinduka ku murongo w'ibikorwa, ibibazo by'umutekano, n'ibindi bibazo.

1. Isuzuma ry'Umutekano: Ingano eshatu z'Umutekano mu Mikorere

Intwaro za roboti za servo zifite umurongo wa gatatu ni ibikoresho byikora kandi bigomba kubahiriza amahame y’umutekano mu nganda (nka ISO 13849). Ibipimo by’ingenzi byibandwaho birimo:

Igikorwa cyo Guhagarika Gutembera mu Buryo bw'Ibiza: Nyuma yo gukanda buto yo guhagarara mu buryo bw'ibiza, igikoresho kigomba guhagarara mu masegonda 0.5, imisumari yose ifunze (nta guterera). Nyuma yo kongera gutangira, kigomba gusubira aho cyaturutse mbere yo gukora.

Ibikoresho by'umutekano: Iyo igikoresho gifite umwenda w'umutekano/urugi rw'umutekano, iyo ikintu gifunze umwenda w'umuriro cyangwa kigafungura urugi rw'umutekano, igikoresho kigomba guhita gihagarara kandi ntigishobora kongera gutangira gukoreshwa n'intoki (kigomba kongera gushyirwaho mbere yuko gitangira gukoreshwa).

Uburinzi bw'umutwaro urenze urugero: Iyo umutwaro wa nyuma urenze 150% by'agaciro kagenwe, igikoresho kigomba gutera akamo kavuga ko umutwaro urenze urugero kandi kikazima kugira ngo hirindwe ko moteri inanirwa (ibi bishobora kugeragezwa hakoreshejwe uburyo bwo gushyiramo umutwaro urenze urugero).

2. Isuzuma ry’uko ibintu bihuye: Kwemeza ko bihuzwa n’imirongo isanzwe ikora

Niba ukuboko kwa roboti yaguzwe bigomba gukoreshwa n'ibikoresho bihari (nk'ibikoresho byo gutwara ibintu, sisitemu zo kugenzura za PLC, cyangwa ibikoresho byo kugenzura amaso), isuzuma ry'uko ibintu bihuye ni ngombwa:

Uburyo bwo guhuza itumanaho: Gerageza niba uburyo bwo guhuza itumanaho bw'ibikoresho (nka RS485, EtherCAT, cyangwa Profinet) bushobora kuvugana neza na PLC isanzweho kandi niba uburyo bwo guhuza "PLC yohereza itegeko - robo ikora igikorwa" bushobora kugerwaho (urugero, nyuma yuko convoyeur igejeje igikoresho aho cyagenewe, robo ihita ikifata);

Guhuza porogaramu: Shyiramo porogaramu igenzura y’umutanga porogaramu hanyuma urebe niba ikora kuri sisitemu za mudasobwa zisanzwe (urugero, Windows 10/11), ishyigikira porogaramu yihariye (urugero, imbonerahamwe y’urwego, G-code), kandi yoroshye kuyikoresha (urugero, ifite ubushobozi bwo kureba uko umuntu ayikoresha ahagaze n’ubushobozi bwo gusuzuma amakosa);

Guhuza Ingaruka za Nyuma: Gerageza niba imiterere y'icyuma gifata ibikoresho ihuye n'ibikoresho bikoresha ibyuma bikoresha ibyuma bikoresha ibyuma (urugero: ibikoresho bikoresha ibyuma ...

IV. Nyuma y'Ikizamini: Uzuza imirimo ibiri yo gusoza kugira ngo utange ishingiro ry'ibyemezo byo kugura

Nyuma y'ikizamini, amakuru agomba gutegurwa vuba kandi ibibazo byose bigatangazwa kugira ngo hirindwe ko hari ibitagenda bishobora kugira ingaruka ku byemezo byo kugura.

1. Tegura Raporo y'Ikizamini kugira ngo umenye imikorere y'ibikoresho

Shyira amakuru yose y'ikizamini mu mbonerahamwe, usobanura neza "ikintu cy'ikizamini, agaciro gasanzwe, agaciro nyako, n'uko bikurikizwa." Urugero:

Ikintu cy'igerageza
Agaciro Gasanzwe
Agaciro Nyako
Gukurikiza amategeko
Gusubiramo (umurongo wa X)
≤± 0.02mm
± 0.015mm
Byakurikijwe
Umuvuduko w'imikorere wemewe
≥500mm/s
480mm/s
Byarananiranye
Igihe cyo Guhagarara mu Buryo bw'Impanuka
≤0.5segonda
Segonda 0.3
Byakurikijwe

Nanone, andika ibintu byose byagaragaye mu gihe cy'igeragezwa (urugero, "X-axis itanga urusaku rudasanzwe munsi y'umutwaro wa 6kg" cyangwa "Interuro y'itumanaho rimwe na rimwe irahagarika") kandi umenye igisubizo cy'umutanga serivisi (urugero, "Urusaku rwabuze nyuma yo guhindura ibipimo bya moteri").

2. Gereranya abatanga serivisi benshi kandi usuzume neza uburyo ikiguzi cyabyo cyaba cyiza

Niba ugerageza ibikoresho ukoresheje abacuruzi benshi, tekereza ku kugereranya gurambuye hashingiwe ku kubahiriza imikorere, igiciro, na serivisi nyuma yo kugurisha:

Gukurikiza imikorere: Shyira imbere ibikoresho byujuje ibisabwa byose by'ingenzi (nk'uburyo bwo gusubiramo no kudahungabana), hamwe n'ibipimo bito bito (nk'urusaku) birenga ibipimo ariko bigahinduka.

Igiciro: Irinde gukurikirana igiciro gito cyane utabizi; banza ubare igiciro cyo kugura + ikiguzi cyo kubungabunga gihoraho (nk'ingwate ya moteri ya servo n'ibice bisimbura).

Serivisi nyuma yo kugurisha: Kugenzura niba umutanga serivisi atanga serivisi zo gushyiramo no gutanga serivisi, amahugurwa ku bakoresha, na garanti y'umwaka umwe, kandi niba afite ikigo cy'ishuri nyuma yo kugurisha (ibi bishobora kugabanya igihe cyo gukemura ibibazo).

Umwanzuro: Isuzumabumenyi ni nk' "ubwishingizi bw'ubuguzi," kandi ibisobanuro birambuye ni byo bigena agaciro ka nyuma.

Igiciro cyo kugura ukuboko kwa roboti ya servo ifite axis eshatu Ubusanzwe hagati y’ibihumbi icumi na magana by’amayuan. Igeragezwa ryo kugerageza mbere yo kugura si "ikiguzi cy’inyongera" ahubwo ni "ishoramari rikenewe" kugira ngo bigabanye ibyago. Mu gusobanura neza intego zo kugerageza, kwibanda ku mikorere y’ingenzi, no kugenzura umutekano n’uko bihuye, abaguzi bashobora kumenya neza niba ibikoresho bihuye n’ibikenewe mu musaruro, birinda ibibazo nko "kugura ibikoresho bitari byo" no "kugorwa n’impinduka zikurikiraho."

Niba uhuye n'ingorane mu bya tekiniki mu gihe cyo gupima (nk'uburyo bwo gukoresha interferometer ya laser cyangwa kwandika gahunda yo gupima), vugana n'itsinda ry'abatekinisiye cyangwa uganire n'ikigo cy'inzobere mu gupima ibikoresho byikora. Wibuke ko ibikoresho byemejwe binyuze mu gupima mu murima ari byo byonyine bishobora kugabanya ikiguzi no kunoza imikorere y'inganda.