Ese imikorere ya roboti ikora imashini ikora imashini ikora inshinge eshatu iragabanuka?

Ni imikorere ya servo ifite umurongo wa gatatu Imashini yo Gutera Inshinge roboti irasenya?

Ku murongo wo gukora imashini zitera inshinge, roboti y'imashini ikora imashini itera inshinge za servo ifite umurongo wa gatatu ni igikoresho cy'ingenzi gihuza gufungura no gufunga ifu, gushyira ibicuruzwa mu mwanya wabyo, no kubitwara. Gukomera ku mikorere yabyo bigena neza umusaruro, igipimo cy’ubuziranenge bw’ibicuruzwa, n’igihe ibikoresho bizamara. Iyo robo ihuye n’ibibazo by’imikorere nko guhindagurika neza mu gushyira ibintu mu mwanya wabyo, umuvuduko ugenda gahoro, ubushobozi bwo kubyikorera bugabanuka, cyangwa gutinda kugenda, kunanirwa kubona vuba impamvu nyamukuru ntibishobora gutera gusa igihe cyo gukora ibintu ahubwo bishobora no kwangiza ibice byabyo bitewe no gusana nabi. Iyi nkuru izatanga igisubizo cy’uburyo bwo gusuzuma ikibazo cy’ikosa mu buryo bune: kumenya ibimenyetso bidasanzwe → gukemura ibibazo kuri module → kugenzura ikosa → kubungabunga uburyo bwo kwirinda, gufasha abatekinisiye gukemura ibibazo neza.

1. Gusuzuma hakiri kare ibibazo by’imikorere: Banza "Fata ikimenyetso" hanyuma "Funga urwego"

Mbere yo gutangira gukemura ibibazo, ni ngombwa kumenya ibimenyetso byihariye by’igabanuka ry’imikorere binyuze mu kwitegereza no gukusanya amakuru kugira ngo wirinde gutakaza umwanya ukoresheje uburyo bwo gukemura ibibazo mu buryo butaziguye. Ibi bikurikira ni ibimenyetso bisanzwe by’imikorere idahwitse n’ahantu ho gusuzuma indwara hashingiwe ku bya mbere:

1. Gushyira mu byiciro ibimenyetso by'imikorere y'ibanze

Guhindura uko ibintu bimeze: Roboti irahindukira ikava aho ishaka iyo ifashe ikintu, ntihuze neza n'umukandara wo kugishyiramo, cyangwa ikosa ryo gusubiramo rirenze agaciro kavuzwe mu gitabo cy'ibikoresho (ubusanzwe, uburyo bwo gusubiramo uko ibintu bimeze nk'uko serivisi ya servo ifite umurongo wa gatatu ibivuga). Robot SIbimenyetso bya mbere: Guhindagurika kwa parameter ya servo system, kwangirika kwa mekanike, n'ibidashoboka ku kimenyetso cya encoder.

Kugabanya Umuvuduko w'Ikoranabuhanga: Iyo roboti ifunguwe cyangwa ipakiye, umuvuduko nyawo wa buri murongo (umurongo X utambitse, umurongo Y utambitse, n'umurongo Z utambitse) uba uri hasi ugereranije n'agaciro kagenwe, kandi hari aho bihagarara mu gihe cyo kwihutisha/kugabanya umuvuduko. Urwikekwe rw'ibanze: Kugabanya umuvuduko w'amashanyarazi wa Servo, gutakaza ingufu za moteri, cyangwa kwiyongera k'ubudahangarwa bw'umutwaro.

Ubushobozi bwo gutwara bugabanuka: Igicuruzwa cyashoboraga gufatwa mbere mu buryo busanzwe (urugero, igice cyakozwe mu inshinge ya 5kg) kiragabanuka nyuma yo gufata, cyangwa inzogera yo gutwika cyane ikazamurwa mu gihe cy'imikorere bitewe n'umutwaro mwinshi. Udukekwaho mu ntangiriro: Umuvuduko uhagije wa moteri ya servo, gusimbuka kw'ihererekanya ry'amashanyarazi, cyangwa umuvuduko uhagije muri sisitemu y'ubufasha ya pneumatic/hydraulic (niba harimo icyuma gifata umwuka). Gutinda Gusubiza: Nyuma y'uko agasanduku k'umukoresha gatanze itegeko, robo ifata amasegonda 1-3 kugira ngo ikore igikorwa, cyangwa hakabaho guhagarara kugaragara iyo hahinduwe ibikorwa. Udukekwaho mu ntangiriro: Gutinda k'itumanaho rya sisitemu yo kugenzura, gutinda k'ibimenyetso bya sensor, no gupima ubushobozi bwa servo.

2. Gukusanya no kugereranya amakuru y'ingenzi
Igenzura ry’amaso ryonyine ntirishobora kubona neza ikibazo; kugereranya amakuru ni ngombwa kugira ngo hagabanywe ubushobozi bwo gusesengura amakosa:

Andika ibipimo by'imikorere y'amashanyarazi: Koresha sisitemu yo kugenzura robo (nk'ikimenyetso cya PLC cyangwa paneli ya servo drive) kugira ngo usome amakuru nk'umuvuduko w'imikorere, kunyura mu myanya, umuvuduko wa moteri, n'umuvuduko wa torque wa buri murongo. Gereranya ibi n'ibipimo mu gihe cy'imikorere isanzwe (reba inyandiko z'amabwiriza y'igikoresho cyangwa amateka y'imikorere). Ibande ku bimenyetso nka "umuvuduko w'amashanyarazi uri hejuru cyane," "kunyura mu myanya kurenza urugero," na "ihindagurika ry'umuvuduko w'amashanyarazi ukabije."

Ibijyanye n'ibizamini by'ikosa: Andika niba kwangirika k'imikorere bifitanye isano n'ibintu runaka, nko "guhindagurika bibaho gusa iyo umutwaro uremereye," "umuvuduko ugabanuka nyuma y'isaha 1 y'igikorwa," na "gutsindwa kenshi bibaho iyo ubushyuhe bw'ikirere buzamutse." Ibi bintu bishobora gufasha gukuraho ibintu bidafite aho bihuriye (nk'ingaruka z'ubushyuhe bw'ikirere n'ubushuhe ku bice by'ikoranabuhanga).

2. Gukemura ibibazo byimbitse kuri module: Kuva kuri "Ibice by'ingenzi" kugeza kuri "Sisitemu z'ubufasha"

Imikorere ya robo y’imashini ikora imashini ikora imashini ya servo ifite umurongo wa gatatu iterwa n’imikorere ihuriweho ya "servo system → imiterere ya mechanical → control system → assistant systems." Gukemura ibibazo bisaba gusenya module kuri module, hakagenzurwa imikorere ya buri ihuriro rimwe ku rindi.

A. Isoko ry'ingufu z'ibanze: Gukemura ibibazo bya sisitemu ya Servo (bitera ibibazo birenga 60% by'imikorere)

Sisitemu ya servo ni "umutima w'imbaraga" wa roboti, igizwe n'ibice bitatu: moteri ya servo, moteri ya servo, na encoder. Ikosa ryose mu gice icyo ari cyo cyose rizatuma imikorere igabanuka. Gukemura ibibazo bigomba gukurikiza ishingiro rya "kuva kuri moteri ujya kuri moteri, kuva ku kimenyetso ujya kuri hardware": (1) Servo drive: banza urebe "kode y'itangazo" hanyuma urebe "imiterere ya parameter"

Intambwe ya 1: Soma kode y'itangazo: Akabati ka servo kazagaragaza kode y'ikosa (nka "AL.E6" ya Mitsubishi MR-J4 series igaragaza ko nta bushobozi bwo gukodesha, naho "Err.11" ya Panasonic A6 series igaragaza ko umuriro urenze urugero). Ibibazo by'ibanze (nk'amashanyarazi arenze urugero, umuriro urenze urugero, ubushyuhe bwinshi, n'uburyo itumanaho rya encoder ritameze neza) bishobora kuboneka ugereranije n'igitabo cy'amabwiriza y'ibikoresho.​

Intambwe ya 2: Reba ibipimo by'ingenzi: Niba nta kode z'intabaza zihari ariko imikorere yagabanutse, ibande kuri ibi bikurikira:

Gukura mu mwanya (P Gain) no kwiyongera mu mwanya (V Gain): Gukura mu mwanya muto cyane bizatuma habaho kwihuta mu mwanya no kunyura mu buryo bukabije; kwiyongera cyane bishobora gutera gutigita. Hindura neza ukurikije agaciro kagenwe mu gitabo cy'ibikoresho (ubusanzwe banza uhindure umurongo w'umuvuduko, hanyuma uhindure umurongo w'umwanya).

Igipimo cy'ibikoresho by'ikoranabuhanga: Imiterere idahwitse y'igipimo cy'ibikoresho ishobora gutuma habaho itandukaniro hagati y'aho byategetswe n'aho byashyizwe (urugero, kugenda kwa mm 100 ariko mm 50 gusa). Genzura ko igipimo cy'ibikoresho gihuye n'igipimo cy'ihererekanya ry'ibikoresho (nk'urugero nk'icyuma gifata umupira).

Imiterere y'umuvuduko w'amashanyarazi n'umuvuduko w'amashanyarazi: Niba disiki ishyizwe mu buryo butari bwo kuri "uburyo bw'umuvuduko w'amashanyarazi" cyangwa umuvuduko w'amashanyarazi uri hasi cyane, imbaraga za moteri zizaba zidahagije, bigatuma umuvuduko ugabanuka kandi ubushobozi bwo gutwara imizigo bukagabanuka. Garura agaciro k'umuvuduko w'amashanyarazi cyangwa usubizeho ukurikije ibisabwa ku muvuduko.

B, Servo moteri: Gusuzuma "ubuzima bw'ibikoresho" uhereye ku "uko imikorere ihagaze"

Igenzura ry’amatwi: Iyo moteri irimo gukora, kora ku gisenge cya moteri n'ukuboko kwawe (witondere kwirinda gushya). Niba ubushyuhe burenze 70°C (izamuka risanzwe ry'ubushyuhe bwa moteri ya servo ni ≤40°C), bishobora kuba ko moteri irimo gusaza, konti yayo yangiritse, cyangwa umutwaro wayo ari munini cyane; tega amatwi ijwi ry'uko moteri ikora. Niba hari ijwi ry' "gushyuha" cyangwa "gushyuha", birashoboka ko konti yayo idafite amavuta cyangwa yangiritse. Ni ngombwa kuyikuraho no kuyigenzura no kuyisimbuza (ni byiza gukoresha konti zitumizwa mu mahanga zo mu bwoko bumwe, nka NSK na SKF).

Ikizamini cy'imikorere: Kuramo moteri mu buryo bwo kohereza (ikizamini cyo kudashyiramo umutwaro). Niba umuvuduko wa moteri n'imbaraga zayo ari ibisanzwe iyo nta mutwaro bikozwe, bivuze ko ikibazo kiri ku mpera y'umutwaro wa moteri; niba bikiri ibidasanzwe iyo nta mutwaro bikozwe, koresha multimeter kugira ngo upime agaciro k'ubudahangarwa bw'izunguruka rya moteri mu byiciro bitatu (ubusanzwe, ibice bitatu bigomba kuringanizwa, hamwe n'itandukaniro rya ≤5%). Niba ubudahangarwa bw'igice kimwe ari ntarengwa, bivuze ko izunguruka ryangiritse kandi moteri igomba gusanwa cyangwa gusimbuzwa.

C, Encoder: Ikimenyetso "zero error" ni urufunguzo rwo gushyira ahantu neza.

Imashini ihindura imiterere y'imashini ni "ijisho" rya sisitemu ya servo, ishinzwe gusubiza inyuma aho moteri ihagaze n'ibimenyetso by'umuvuduko. Ibimenyetso bidasanzwe bizatuma hatabaho kunyuranya n'aho ihagaze. Uburyo bwo gukemura ibibazo:

Igenzura ry'umurongo: Reba umurongo uhuza hagati y'icyuma gikodesha na shoferi (ubusanzwe insinga ikingira) kugira ngo urebe niba hari imiyoboro idakora neza, insinga zangiritse, cyangwa ubutaka bubi bw'urwego rw'igikodesha (niba urwo rwego rw'igikodesha rudakomeye, bizatera imihindagurikire y'amashanyarazi kandi bigatera ihindagurika ry'ibimenyetso). Ni byiza kongera gushyiramo umuyoboro uhuza hanyuma ugasimbuza insinga yangiritse.

Ikizamini cy'ibimenyetso: Koresha oscilloscope kugira ngo upime ibimenyetso bya A, B, na Z by'imashini isohora amakuru. Mu bihe bisanzwe, bigomba kuba ikimenyetso cy'umuraba wa kare uhamye. Niba hari ukugoreka kw'imiterere y'umuraba, gutakaza impumuro, cyangwa amplitude iri hasi cyane (munsi ya 5V), bivuze ko ibice by'imbere by'iyi mashini byangiritse kandi mashini ikoresha icyerekezo kimwe igomba gusimburwa (menya ko igisubizo cyayo kigomba kuba gihuye n'ikinyabiziga, nka biti 17 cyangwa biti 23). 2. Kohereza imbaraga n'ingendo: Gukemura ibibazo by'imiterere ya mashini (biroroshye kwirengagiza "umwicanyi utagaragara") Nubwo sisitemu ya servo yaba isanzwe, kwangirika, guhindagurika cyangwa guhinduka kw'imiterere ya mashini bizatuma imikorere yangirika, kuko kugenda kwa manipulator bigomba koherezwa binyuze muri "moteri → coupling → ball screw / synchronous belt → guide rail slider", kandi kubura k'umurongo uwo ari wo wose bizagabanya imikorere y'ingufu: (1) Uburyo bwo kohereza: kwibanda ku "kwangirika" na "concentricity" Ingufu ya ball: Nk'igice cy'ingenzi cyo kohereza cya X, Y, na Z axes, kwangirika kwa screw bizatuma "kwiyongera kw'inyuma" (ni ukuvuga, iyo moteri izunguruka mu cyerekezo gitandukanye, manipulator ifite stroke irimo ubusa), ibi bikaba bigaragara nko kunyura mu mwanya wayo. Uburyo bwo kugenzura: Koresha ikimenyetso cya dial kugira ngo ukosore slider hanyuma usunike slider n'intoki. Niba pointer ya dial indicator ihindagurika ho hejuru ya 0.05mm, bivuze ko screw yangiritse cyane; muri icyo gihe, reba niba hari iminkanyari, ingese cyangwa amavuta yumye ku buso bwa screw. Amavuta yihariye (nk'amavuta ashingiye kuri lithium) agomba kongerwamo buri gihe. Iyo ubusaza burenze urugero, vis igomba gusimbuzwa (ni byiza guhitamo vis y'umupira ifite ubushobozi bwo gukoresha C3 cyangwa irenga).
Guhuza: Niba ihuriro rihuza moteri ya servo n'urushundura rw'umupira rifite imivuniko, elastomer ishaje, cyangwa ishyirwaho ritari ryimbitse, bizatera kohereza ingufu zidahindagurika, gufungana cyangwa guhindagurika kw'aho uhagaze. Uburyo bwo kugenzura: Nyuma yo guhagarika imashini, hindura ihuriro n'intoki kugira ngo wumve niba hari gufungana cyangwa gucika intege. Niba ihuriro n'urushundura rw'umuyoboro/urushundura rw'umuyoboro bidahagaze neza (guhindagurika cyane cyane 0.1mm), ihuriro rigomba kongera gupimwa.
Umukandara uhuza amenyo (niba uhari): Umukandara wa X wa robo zimwe na zimwe ukoresha umukandara uhuza amenyo. Iyo umukandara uhuza amenyo ufungutse cyangwa amenyo apfutse, bizatera "gutemba", bizagaragara nko kugabanuka k'umuvuduko no gushyirwa ahantu hatameze neza. Uburyo bwo kugenzura: Kanda umukandara uhuza amenyo. Iyo amenyo arenze 10mm, bivuze ko afungutse cyane kandi ko tensioner igomba guhindurwa; niba amenyo apfutse cyangwa acitse, umukandara uhuza amenyo ugomba gusimburwa (ni byiza gukoresha umukandara uhuza amenyo wa polyurethane, urinda kwangirika).

(2) Inzira zo kuyobora n'izigenda: "Uburyohe" bugena uburyo imikorere ihamye

Akamashini gafasha mu gufata amaguru gashinzwe gushyigikira ibice byimuka bya robo. Iyo kadasizwe amavuta ahagije cyangwa kadashaje, kazongera ubushobozi bwo kudakora neza, bigatuma umuvuduko ugabanuka no gufungana. Gukemura ibibazo:

Kanda icyuma gitereka n'intoki kugira ngo wumve niba hari imbaraga zigaragara cyangwa zifata. Niba ari uko bimeze, kuraho icyuma gitereka kugira ngo urebe niba nta ngufu ziri ku mipira y'imbere n'aho ibintu bikomerera byacitse. Sukura umukungugu n'imyanda yose iri ku buso bw'inzira y'ubuyobozi hanyuma ushyireho amavuta yagenewe ibyuma bitereka n'ibyuma (nka ISO VG32).

Koresha mikorometero kugira ngo upime ubugari bw'inzira z'umurongo. Iyo ubugari bw'inzira burenze 0.1 mm / m, imbaraga zitangana zizashyirwa kuri slider mu gihe cyo gukora, bikihutisha kwangirika. Aho umuhanda ushyirwa hagomba kongera gupimwa.

Icya gatatu. Ikigo cy'amabwiriza n'ibitekerezo: gukemura ibibazo bya sisitemu yo kugenzura

Sisitemu yo kugenzura (harimo PLC, panel y'imikorere, sensor) ishinzwe kohereza amabwiriza y'ibikorwa no kwakira ibimenyetso by'ibitekerezo. Iyo habayeho ikosa, rizatuma "amabwiriza adashobora koherezwa" cyangwa "guhindura ibimenyetso by'ibitekerezo", bigaragazwa no kwangirika k'imikorere:

(1) PLC na porogaramu: "Uburyo bwo gukoresha logique" ni ishingiro

Reba niba PLC ifite ikimenyetso cy'itangazo (nk'itara rya ERR ririmo). Niba ari uko bimeze, soma kode y'ikosa (nk'ikosa rya module y'injira/isohoka, ikosa rya porogaramu) unyuze muri porogaramu ya porogaramu, hanyuma urebe niba umurongo w'itumanaho hagati ya PLC na servo drive na sensor (nk'urugero RS485, umurongo w'itumanaho wa EtherCAT) udafite umurongo. Emeza uburyo porogaramu iteye: Niba porogaramu ya PLC iherutse guhindurwa, ni ngombwa kugereranya porogaramu yo kubika amakuru kugira ngo urebe niba hari ibibazo nka "gutinda k'itegeko" na "ikosa ry'uruhererekane rw'ibikorwa" (urugero, gushyira mu bikorwa itegeko rizamuka mbere yuko igikorwa cyo gufata kirangira). Inzira yo gushyira mu bikorwa porogaramu ishobora kwemezwa intambwe ku yindi binyuze mu buryo bwa "gukora intambwe imwe".

(2) Ishusho: "Uburyo bwo kugaragaza ibimenyetso neza" ni ingenzi mu gutanga ibitekerezo

Utumashini dukoreshwa mu gupima ibintu (manipulators) tugizwe n'utumashini dupima aho ibintu biri (nk'udukingirizo tw'amashanyarazi, udukingirizo tw'aho ibintu biri) n'utumashini dupima umuvuduko (nk'utumashini dupima umuvuduko tw'icyuma). Iyo ikimenyetso cy'utumashini kidakora neza, bizatuma umuntu atekereza nabi igikorwa:

Sensoreri y'aho ibintu biri: Reba niba aho sensor ishyirwa hatandukanye (nk'aho icyuma gikoresha amashanyarazi kidahuye n'aho kigera), koresha multimeter kugira ngo upime ikimenyetso cy'isohoka rya sensor (nk'icyuma gikoresha NPN, gitanga urwego rwo hasi mu gihe cyo kubimenya). Niba ikimenyetso kidahindutse cyangwa kidahinduka, hindura aho iyi sensor ishyirwa cyangwa usimbuze sensor.

Sensoreri y'umuvuduko: Iyo icyuma gikoresha umwuka, sensoreri y'umuvuduko niyo ishinzwe kumenya umuvuduko w'icyuma gikoresha umwuka. Iyo agaciro k'umuvuduko kari munsi y'agaciro kagenwe (nk'agaciro kagenwe ka 0.5MPa, agaciro nyakuri ni 0.3MPa), icyuma gikoresha umwuka kizaba gifite imbaraga zidahagije zo gufata, ibyo bigatuma ibicuruzwa bigwa. Ni ngombwa kugenzura niba umuvuduko w'umwuka uturuka ku mwuka ari usanzwe (ubusanzwe umuvuduko w'umwuka uturuka ku mwuka ugomba kuba ≥0.6MPa) kandi niba sensoreri yaragenzuwe (agaciro k'umuvuduko w'icyuma gashobora gupimwa hakoreshejwe igipimo gisanzwe cy'umuvuduko).

Icya kane. Sisitemu y'ubufasha: Gukemura ibibazo by'amashanyarazi n'amazi (biro by'inkunga byoroshye kwirengagiza)

(1) Sisitemu y'amazi/amazi (niba irimo ibikoresho byo gufata cyangwa ibikorwa by'ubufasha)

Sisitemu y'umwuka: Reba niba umuvuduko wa compressor y'umwuka ari mu buryo busanzwe, niba umuyoboro w'umwuka urimo kuva, kandi niba valve ya solenoid yafatiwe (valve ya solenoid ishobora gusenywa kugira ngo isukure igice cy'imbere cya valve). Niba imbaraga zo gufata za gripper zidahagije, reba niba agapfundikizo ka silindiri karashaje (simbuza agapfundikizo) kandi niba valve igenzura umuvuduko yahinduwe ku muvuduko ukwiye (ubusanzwe 0.4-0.6MPa). Sisitemu ya hydraulic (ikoreshwa n'abakoresha ibikoresho bike bikomeye): Reba niba urwego rw'amavuta ya hydraulic ruri mu rugero rusanzwe, niba amavuta yangiritse (niba amavuta ari mu mazi cyangwa arimo imyanda, simbura amavuta ya hydraulic hanyuma usukure igice cya filter), kandi niba umuvuduko wa hydraulic pump ari mu buryo busanzwe. Niba umuvuduko udahagije, reba niba igice cy'ipompe cyarashaje cyangwa valve ya overflow ifite ikibazo.

(2) Sisitemu y'amashanyarazi: "Ingufu zihamye" ni ngombwa kugira ngo ibikoresho bikore neza.

Genzura niba ingufu z'amashanyarazi (nka AC220V, DC24V) za servo drive, PLC, na sensor zihamye. Koresha multimeter kugira ngo upime niba ihindagurika ry'amashanyarazi rirenze ± 5% (amashanyarazi ari make cyane azatuma moteri ya servo itagira imbaraga zihagije, kandi ingufu z'amashanyarazi ari hejuru cyane zicana ibice by'ikoranabuhanga).

Reba niba hari ibimenyetso by'ibura ry'umuriro ku gikoresho cy'umwuka n'icyuma gikonjesha mu gasanduku gatanga ibikoresho. Niba ibikoresho bikonjeshejwe, impapuro zo gusiga zigomba gukoreshwa mu gusiga cyangwa gusimbuza ibice kugira ngo hirindwe ibura ry'amashanyarazi bitewe n'uko ibikoresho bidakonjesha.

3. Kugenzura impamvu y'ikosa: Koresha "uburyo bwo gusimbuza" na "ikizamini cyo kudashyiramo umutwaro" kugira ngo wemeze impamvu nyamukuru.

Nyuma yo gufunga aho hakekwa ikibazo binyuze mu gukemura ibibazo bya module ku yindi, icyateye ikibazo kigomba kwemezwa binyuze mu isuzuma ryo kugenzura kugira ngo hirindwe ko hafatwa umwanzuro utari wo:

1. Uburyo bwo gusimbuza: Gerageza vuba ubwiza bw'ibice bigize.

Niba moteri ya servo ikekwaho kuba ifite ikibazo, yisimbuze moteri isanzwe yo muri ubwo buryo. Niba imikorere yayo yasubiwemo nyuma yo kuyisimbura, bivuze ko moteri ya mbere yangiritse. Niba moteri ikekwaho kuba ifite ikibazo, simbura insinga ya encoder cyangwa encoder kugira ngo urebe niba ikimenyetso cyasubiye ku murongo. Niba hakekwa ko hari ikibazo cya sensor, simbura sensor iri mu mwanya usanzwe (nk'imashini ikoresha amashanyarazi) uyishyire mu mwanya ukekwaho kuba ifite ikibazo. Niba ikimenyetso ari gisanzwe, sensor ya mbere iba yangiritse.

2. Ikizamini cyo kugereranya nta mutwaro cyangwa umutwaro ushyizwemo
Ikizamini cyo kudashyiramo umutwaro: Kuramo roboti ku mutwaro (nk'icyuma gifata umutwaro cyangwa ibicuruzwa) hanyuma ukoreshe buri murongo. Niba imikorere ari isanzwe (umuvuduko n'uburyo bwo kuyishyiramo byujuje ibisabwa) iyo nta mutwaro, ikibazo kiri ku mutwaro (nk'icyuma gifata umutwaro cyangwa ikintu kirenze urugero). Iyo ikibazo kidakomeye gikomeje iyo nta mutwaro, ikibazo kiri kuri sisitemu ya servo cyangwa imiterere ya mekanike.
Ikizamini cyo gupima umutwaro: Nyuma y'uko ikizamini cyo kudapima umutwaro kibaye gisanzwe, ongera umutwaro buhoro buhoro (uhereye kuri 50% by'umutwaro ugenwe) kandi urebe impinduka mu mikorere. Niba habayeho ikibazo iyo umutwaro ugeze ku gaciro gagenwe, reba niba torque ya moteri ya servo ihuye kandi niba uburyo bwo kohereza bushobora kwihanganira umutwaro (urugero, niba igipimo cy'umutwaro w'umupira wujuje ibisabwa).

4. Kubungabunga Ubuzima Bw'ibanze: Kuva ku "Gusana no Gusubiza Indwara mu Buryo Busanzwe" kugeza ku "Gukingira mu Buryo Busanzwe"

Nyuma yo gukemura ikibazo kirimo, gushyiraho uburyo bwo kubungabunga imikorere bishobora gukumira kwangirika kw'imikorere ya roboti no kongera igihe cyo kuyikoresha:

Gusiga amavuta buri gihe: Shyiramo amavuta yihariye ku ruziga rw'umupira n'inkingi ziyobora buri cyumweru, kandi urebe buri kwezi niba amavuta yumye kugira ngo wirinde kwangirika guterwa no gukururana kw'umunyu.

Gupima bisanzwe: Gereranya uburyo bwo gushyira ibintu neza no gusubiramo buri gice cy'umurongo buri gihembwe ukoresheje interferometer ya laser. Niba ibinyuranyo birenze ibipimo bisanzwe, hindura ibipimo bya servo gain cyangwa usimbuze ibice byashaje vuba.

Gusubiza inyuma ibipimo: Kongera kopi ya porogaramu ya PLC na servo drive buri kwezi kugira ngo wirinde ko ibikoresho bitakaza ubushobozi bwo gukora neza bitewe n'igihombo cya parameter.

Kugenzura ibidukikije: Gufata neza ahantu robot ikorera hasukuye kandi humutse kugira ngo hirindwe ko ivumbi n'amavuta byinjira muri moteri ya servo cyangwa encoder. Gufata neza ubushyuhe buri hagati ya 0 na 40°C (ubushyuhe bwinshi bwihutisha gusaza kw'ibice by'ikoranabuhanga).

Amahugurwa ku Bakozi: Gutanga amahugurwa ku bakoresha n'abakozi bashinzwe kubungabunga kugira ngo hirindwe kwangirika k'imikorere guterwa n'imikorere idahwitse (nk'impinduka mbi ku bipimo bya servo cyangwa kurenza urugero rw'umusaruro).

Umwanzuro
Ikintu cy'ingenzi mu gusuzuma imikorere ya robot y’imashini ikora imashini ikora imashini ikora imashini ikora imashini ikora imashini eshatu ni ugukemura ibibazo no gushyigikira amakuru. Ubwa mbere, menya ikibazo ukoresheje ibimenyetso n’amakuru, hanyuma ukicemo ibice ukurikije uko "servo system → mechanical structure → control system → assistant system." Hanyuma, menya impamvu nyamukuru binyuze mu gusimbuza no kugereranya ibizamini. Gusobanukirwa ubu buryo ntibifasha gusa gukemura ikibazo vuba ariko binagabanya amahirwe yo kwangirika binyuze mu kubungabunga imikorere yo kwirinda, bigatuma umurongo ukoreshwa mu gusimbuza imashini ugenda neza.