Imikoreshereze yihariye ya manipulator ya servo ifite umurongo wa gatatu mu gutondekanya no gupakira imiti

Imikoreshereze yihariye ya Roboti za Servo zifite umurongo wa gatatu mu gutondeka no gupakira imiti

Roboti za Servo zifite umurongo wa gatatu: Guhindura impinduka mu mikorere myiza mu gutondeka no gupakira imiti

Bitewe n’amahame meza y’ubuziranenge bw’inganda zikora imiti ndetse n’uko hakenewe gukorwa neza, ibikoresho byikora ku buryo bwikora byabaye ingenzi mu kuvugurura no guhindura ibikorwa by’ibigo bikora imiti. Roboti za servo zifite umurongo wa gatatu, hamwe n'inyungu zabo z'ingenzi zo kugenzura neza, imikorere ihamye, no guhinduka mu buryo bworoshye, byahinduye uruhare rwabo mu gutondeka no gupakira imiti kuva ku "bikoresho by'inyongera" kugeza ku "bikoresho by'ingenzi bikorerwamo." Iyi nkuru izasuzuma uburyo bwihariye bwo kuyikoresha, agaciro ka tekiniki, n'uburyo bwo kuyikoresha muri uru rwego, itanga icyitegererezo ku kuvugurura imikorere y'ibigo by'imiti.

I. Ibisabwa mu nganda zikora imiti: Kuki wahitamo roboti zikora serivisi eshatu?

Imiterere yihariye y’umusaruro w’imiti igena ibisabwa bikomeye ku bikoresho byikora: Ibipimo by’isuku byemewe na GMP, uburyo bwo gutondeka neza ku rwego rwa milligram, imikorere ihamye mu masaha 24, no guhinduranya vuba ibipimo by’ibicuruzwa byinshi. Gutondeka no gupakira bisanzwe bihura n’imbogamizi mu mikorere myiza gusa (ubunini bw’ubushobozi bwo gutondeka buri munsi ku muntu ni ibice 3,000-5,000 gusa), ahubwo binagaragaza ingaruka mbi nko kuvanga imiti no kuyigurisha nabi bitewe n’amakosa y’abantu. Icyakora, ibikoresho bisanzwe bikoresha umwuka bigabanya ubushobozi bwo kuyigenzura no kuyikoresha nabi, bigatuma idakoreshwa mu buryo bunoze mu mikorere y’imiti.

Kugaragara kw'imirongo itatu Servo Manipulators ikemura iki kibazo. Sisitemu yabo yo kugenda ya X, Y, na Z-axis ikoresha servo-motor igera ku rugero rwo gushyiramo neza rwa mm 0.1. Iyo ihujwe n'inzira zo kugenda zishobora gutegurwa hamwe n'uburyo bwo gusubiza ibintu ku ngufu, yujuje ibisabwa mu byumba byo gusukura nta mukungugu, mu gihe ihuza neza n'ibikenewe mu buryo butandukanye bwo gukora (ibinini, capsules, amazi yo kunywa, nibindi), bigatuma iba amahitamo meza yo gutondekanya no gupakira imiti mu buryo bwikora.

II. Icyitegererezo cy'ingenzi cy'ikoreshwa ry'imiti: Igenzura ry'uburyo bwo gutondeka imiti neza

Gutondekanya ni ikintu cy'ingenzi mu ikorwa ry'imiti, gisaba inzira yuzuye yo "kumenya - gufata - gushyira mu byiciro - kwimura." Ikoreshwa rya robots za servo zifite umurongo wa gatatu muri ubu buryo rishobora kugabanywamo ibintu bitatu by'ingenzi:

(I) Gutondekanya neza imiterere y'ibipimo byinshi
Ku miti mu buryo butandukanye, nka ibinini, capsules, na softgels, robots za servo zifite umurongo wa gatatu zishobora gukora neza mu kuzishyiramo ibikoresho byihariye. Urugero, mu gutondeka ibinini, hakoreshwa agakoresho ko gukurura icyuma gifunga ...

Mu bijyanye no gukora neza mu gutondeka, roboti ya servo ifite imirongo itatu itanga inyungu ikomeye. Dufashe urugero rw'imirongo yo gutondeka ya tableti y'ibigo bito n'ibiciriritse bikora imiti, imirongo gakondo yo gutondeka ikoreshwa n'intoki ishobora gutunganya ibinini bigera ku 8.000-10.000 ku isaha. Ariko, imirongo yo gutondeka yikora ifite roboti za servo zifite imirongo itatu, binyuze mu guhuza umuvuduko mwinshi hagati y'imirongo ya X na Y (umuvuduko ntarengwa wo gukora wa 1.5 m/s), ishobora kongera ubu bushobozi kugeza ku binini 30.000-40.000 ku isaha. Igipimo cy'amakosa yo gutondeka kiri munsi ya 0.01%, kiri munsi cyane y'igipimo cy'amakosa cya 0.5% cyo gutondeka n'intoki.

(II) Gutondekanya Imibare y'Ibiyobyabwenge mu buryo bwihariye
Amabwiriza agenga imiti asaba ko buri cyiciro cy’imiti gikwirakwizwa ukwacyo kandi kigakurikiranwa neza, bigasaba cyane ubushobozi bwo kumenya umubare w’imiti mu buryo bwo kuyitondekanya. Roboti ya servo ifite umurongo wa gatatu, ihujwe na sisitemu yo kumenya icyerekezo, ikora mu buryo bwikora "kumenya umubare w’imiti - gutondekanya neza - kohereza hifashishijwe icyerekezo." Sisitemu yo kubona ibanza gufata amakuru y’umubare w’imiti (barcode cyangwa QR code) ku ipaki y’imiti. Ikoresheje algorithm, isobanura vuba amakuru y’umubare w’imiti hanyuma ikayohereza kuri Isosiyete ya Robotsisitemu yo kugenzura. Hashingiwe ku mategeko yashyizweho mbere yo gushyira mu byiciro imibare y’itsinda, sisitemu ihuza imirasire ya X, Y, na Z kugira ngo yohereze imiti iva mu byiciro bitandukanye ijya mu bigega byayo. Igikorwa cyose kimara amasegonda 0.5, bikuraho burundu ibyago byo kuvanga imigabane.

Gukoresha uyu muti mu isuzuma ry’ibipimo by’imiti ryakozwe n’ikigo kinini cy’imiti byagaragaje ko igipimo cyo gutondekanya imiti mu buryo bw’intoki cyagabanutse kuva kuri 15% kigera kuri 0.3%, ubushobozi bwo gukurikirana imiti bwikubye kane, kandi uyu muti watsinze igenzura ritunguranye ryakozwe n’inzego zishinzwe kugenzura imiti.

(III) Kwanga mu buryo bwikora ibicuruzwa bifite inenge
Mu gihe cyo gukora imiti, hari ubwoko buke bw'ibicuruzwa bifite inenge (nk'ibinini bidafite imiterere myiza n'udupira duto duto) bivuka bitewe n'ibintu nk'ubusembwa bw'ibikoresho fatizo n'impinduka mu mikorere. Kwangwa n'intoki bisanzwe ntabwo ari ingirakamaro gusa ahubwo binashobora no gukorerwa igenzura ritagenze neza. Roboti ifite umurongo wa servo itatu, hamwe na sisitemu yo kugenzura no kumenya uburemere, ituma ibicuruzwa bifite inenge byangwa neza. Sisitemu yo kureba igaragaza inenge mu by'imiti, mu gihe sensor y'uburemere imenya ubusembwa buhindagurika (n'ukuri kwa ± 0.01g). Iyo ibicuruzwa bifite inenge bibonetse, sisitemu yohereza ikimenyetso kuri robo, ihita ihindura vuba inzira yayo, igafata ibicuruzwa, ikabishyira mu gisanduku cy'imyanda. Igihe cyo kwangwa ni amasegonda 0.3 gusa, hamwe n'igipimo cyo kwangwa neza cya 99.99%.

III. Icyitegererezo cy'ingenzi cya 2: Ubufatanye bwiza mu gupakira imiti

Gupakira ni intambwe ya nyuma mu gukora imiti, bisaba inzira nyinshi, harimo gushyira mu katoni, gufunga, gushyiramo ibirango, no gushyira mu mapaki. Roboti ya servo ifite umurongo wa gatatu, binyuze mu guhuza cyane n'umurongo wo gukora amapaki, igera ku bufatanye bwiza muri izi nzira.

(I) Guhuza mu buryo bwikora ibikoresho byo mu ikarito no gufunga imiti

Mu gikorwa cyo gushyira mu katoni ibinini na kapsule, roboti ya servo ifite imirongo itatu ikora imirimo y'ingenzi yo "kugorora" no "gupakira." Dufashe urugero rwo gupakira kapsule, roboti ibanza gukoresha uburyo bwa X- na Y-axis buhuza kugira ngo ishyire neza udupaki twa kapsule (udupaki 12-24 kuri buri paki) dutangwa n'umuyoboro. Hanyuma Z-axis imanura agakoresho ko gufata kugira ngo ishyire neza udupaki twa kapsule mu dusanduku two gupakira. Igikorwa cyose kimara amasegonda 0.8 gusa kuri buri gasanduku. Mu gihe cyo gufunga agasanduku, roboti ikorana n'umupfundikizo w'agasanduku kugira ngo ipfundikishe umupfundikizo hanyuma ishyire kole. Sisitemu ya servo igenzura imbaraga zo gukanda (20-30N) kugira ngo irebe ko agasanduku kujuje ibisabwa mu gutwara no gukumira kwangirika no kwanduza ibiyobyabwenge.

Nyuma yo kuvugurura umurongo wabo wo gupakira kapsule, ikigo cy’imiti cyakoresheje robo ebyiri za servo zifite umurongo wa gatatu zikora icyarimwe. Ibi byongera ubushobozi bwo gupakira no gufunga amasanduku kuva ku masanduku 120 ku munota kugera ku masanduku 200 ku munota, kandi igipimo cyo kwakira amapaki cyariyongereye kuva kuri 98.5% kugera kuri 99.8%.

(II) Gushyira neza aho ibyapa by'imiti biherereye

Ibirango by'imiti birimo amakuru y'ingenzi nk'izina ry'umuti, imbaraga, nimero y'itsinda, n'itariki bizarangiriraho. Gutandukana kose mu gushyira ikirango ntibigira ingaruka gusa ku bwiza bw'umuti ahubwo bishobora no kunyuranya n'amabwiriza agenga imiti. Roboti ya servo ifite axis eshatu igera ku buhanga bwa milimetero mu kwandika ibirango binyuze mu guhuza "ahantu ho kureba + servo drive": Sisitemu yo kureba ibanza kugaragaza aho agasanduku gaherereye (nk'imfuruka n'ibimenyetso byacapwe), ibara aho ibirango bihurira, hanyuma ikabyohereza kuri robo. Hanyuma robo ijyana neza umutwe w'ibirango ku mirasire ya X na Y ikagera aho igenewe. Umuzingo wa Z ugenzura umuvuduko w'ibirango (0.1-0.2 MPa) kugira ngo ikoreshwe neza kandi nta minkanyari, hamwe no kunyuranamo hagati ya mm ± 0.5.

Ku bijyanye n'udupfunyika dufite imiterere idasanzwe nk'amacupa y'imiti azengurutse, robo ishobora kandi gukoresha umurongo uzunguruka (umurongo wa kane udasanzwe) kugira ngo igere ku birango bya 360°. Sisitemu ya servo ihuza uburyo bwo kugenzura umuvuduko kugira ngo irebe ko umuvuduko uhoraho uzenguruka hagati y'umutwe w'ikarita n'icupa, bityo ikemeza ko hari isano iri hagati y'aho ikirango gihurira.

(III) Gushyira mu bubiko bw'ibikoresho byarangiye hakoreshejwe ubuhanga no kubibika neza

Nyuma yo kurangiza gupakira imiti, bigomba gushyirwa mu mapaki no kubikwa vuba kugira ngo bigabanya umwanya wo hasi. Roboti ya servo ifite umurongo wa gatatu ishobora kubara inzira nziza yo gupakira ishingiye ku bunini, uburemere, n'ibisabwa mu bubiko bw'udusanduku two gupakira. Ku dusanduku tworoheje two kunywa (buri gasanduku gapima munsi ya garama 500), hakoreshwa icyuma gipima inzara nyinshi kugira ngo gifate kandi gishyire mu mapaki udusanduku 4-6 icyarimwe. Ku dusanduku tw'amacupa aremereye cyane (buri gasanduku gapima ibiro 10-15), hakoreshwa icyuma gifata amashanyarazi, gikoresha imbaraga nyinshi za moteri ya servo kugira ngo gifate neza.

Ku bijyanye no gukoresha neza palletizing, robo ikoresha uburyo bwo kugenzura uburebure bufunze ku murongo wa Z kugira ngo irebe ko intera iri hagati ya buri gice cy'udusanduku itarenga mm 1. Uburebure bwa palletizing bushobora kugera kuri metero 1.8-2.5, kandi robo ishobora guhindura imiterere ya palletizing mu buryo bwikora (urugero: kare cyangwa uruziga) hashingiwe ku bunini bw'ububiko. Nyuma yo gushyirwa mu bubiko bw'imiti, ubushobozi bwo gukoresha palletizing bwiyongereye kuva ku dusanduku 80 ku isaha (dukoreshwa n'intoki) kugera ku dusanduku 300 ku isaha, bituma ikoreshwa ry'ububiko rirushaho kuba ryiza ku kigero cya 30%.

IV. Ibyiza by'ingenzi bya tekiniki n'uburyo bwo guhitamo ingingo z'ingenzi za roboti ya Servo ifite umurongo wa gatatu

(I) Ibyiza bitatu bya tekiniki bikwiranye n'imiti

Igishushanyo mbonera cy’icyumba cyo gusukura: Gikoresheje icyuma gikozwe mu cyuma kitagira umugese n’amavuta yo kwisiga akoreshwa mu biribwa, ubuso busukuye bushobora kwihanganira uburyo bwo kwica udukoko nka alukolo n’urumuri rwa UV, bwujuje ibisabwa na GMP Class 8 mu byumba byo gusukura kandi bukarinda kwanduza imiti.

Sisitemu ya Servo Ifite Ubuziranenge kandi Igenzurwa: Ikoresha moteri za servo n'abashoferi binjijwe mu mahanga, ishyigikira aho iherereye, umuvuduko, n'uburyo bwo kugenzura imbaraga. Guhinduranya ibintu mu buryo bworoshye bituma ibintu byoroshye bifatwa neza kandi bigafata ibintu biremereye mu buryo buhoraho.

Guhuza ibintu mu buryo bworoshye: Ishyigikira porotokoli nyinshi z'itumanaho mu nganda nka Modbus na Profinet, ihuza neza na sisitemu zo kureba, sisitemu zo gupima, imashini zo gupakira, n'ibindi bikoresho, bigatuma umurongo w'umusaruro ukora wikora. Porogaramu ya porogaramu ituma habaho guhindura vuba ibipimo by'ingendo, bigatuma imirongo ikorwa ihinduka ku bipimo byinshi by'imiti (igihe cyo guhindura kitarenze iminota 10).

(II) Ibyitabwaho by'ingenzi ku bigo bikora imiti mu guhitamo ibicuruzwa

Guhuza Imitwaro n'ingendo: Hitamo ubushobozi bwo gutwara imizigo ukurikije uburemere bw'imiti iri gutondekwa/gupakirwa (ubusanzwe 1-50 kg). Hitamo umurongo w'ibice bitatu Intera y'ingendo (500-3000 mm ku murongo wa X, 300-2000 mm ku murongo wa Y, na 200-1000 mm ku murongo wa Z) hashingiwe ku miterere y'aho bakorera kugira ngo harebwe ko ibyo umusaruro ukeneye byuzuye.

Ibisabwa ku rwego rw'isuku: Amahugurwa yo gukora ubwoko butandukanye bw'ibipimo, nko guteka mu kanwa no guterwa inshinge, asaba urwego rw'isuku rutandukanye, bisaba robo ifite urwego rw'isuku rukwiye (urugero, Icyiciro cya 7 gikwiriye amahugurwa yo guterwa inshinge).

Ubushobozi bwo gutanga serivisi nyuma yo kugurisha: Gukora imiti ntibishobora guhagarara, bityo hitamo uruganda rutanga serivisi zihuse zo gusubiza ibikoresho mu masaha 24 kugira ngo rukore neza mu gihe ibikoresho byangiritse kandi bigabanye igihombo cy’igihe cyo gukora.

V. Umwanzuro: Kuvugurura ikoranabuhanga ni amahitamo adakuka

Kubera ko inganda zikora imiti zigenda zirushaho kunoza ubuziranenge, kunoza imikorere, no kubahiriza amategeko no gukurikirana ibintu, roboti za servo zifite umurongo wa gatatu ntizikiri ibikoresho byo gukora gusa; ni zo mbaraga z'ingenzi zituma habaho ubushishozi, imikorere myiza, n'ubwenge mu gutondeka no gupakira imiti. Kuva ku gutondeka imiti myinshi kugeza ku gutondeka ibicuruzwa byarangiye, kuva ku gutondeka umubare w'ibicuruzwa kugeza ku kwanga ibicuruzwa bifite inenge, ubushobozi bwabyo bwo guhuza ibintu byose n'ikoranabuhanga burimo gufasha ibigo byinshi bicuruza imiti gutsinda imbogamizi zo gukora, kugabanya ibyago by'ubuziranenge, no kongera ipiganwa ku isoko.