Imiterere ya Roboti Ikora Inshinge Ifite Imirongo Mitanu

Imiterere y'imashini y'urushinge rufite imigozi itanu Robot yo Gutunganya: Isesengura ry'ingenzi ry'uburyo bwo gukora neza no gukorana neza

Mu buryo bugezweho bwo gukoresha inshinge mu gutunganya ibintu, robots zo gushushanya inshinge zifite umurongo wa gatanu, hamwe n'ubushobozi bwazo bwo gukora buhindagurika kandi bufite imiterere myinshi, byabaye ibikoresho by'ingenzi mu kunoza imikorere myiza no kugabanya ikiguzi cy'abakozi. Imikorere yabo idasanzwe iterwa na sisitemu yakozwe neza cyane—kuva kuri mashini itwara kugeza kuri effector—aho imikorere ihuriweho ya buri gice igena imikorere ya robo mu gufata umuvuduko mwinshi, gushyira neza aho ikorera, no kugenda mu buryo bugoye. Iyi nkuru izatanga isesengura ryimbitse ry'imiterere y'ibanze ya robo ikora imashini itera inshinge ifite imirongo itanu, igaragaza isano iri hagati y'imikorere y'ibikoresho n'imiterere y'inyubako, bifashe amasosiyete gufata ibyemezo binoze byo guhitamo ibikoresho mu gihe cyo kuvugurura imikorere y'ikoranabuhanga.

Imiterere y'ibanze: "Umurongo w'amagufwa" wa Sisitemu y'Ingendo y'Imirongo itanu

Imiterere ya mashini ya roboti ikoze mu buryo bw’imirongo itanu ishingiye ku buryo bwo guhuza ibintu byinshi. Mu guhuza imirongo itatu igororotse (X, Y, na Z) n’imirongo ibiri izunguruka (A na B), igera ku rwego rwuzuye rw’imigendere mu ngero eshatu. Ubu buryo burenze imipaka y’imigendere isanzwe ya gatatu-Roboti zo mu bwoko bwa Axis, bigaragaza inyungu zikomeye mu gufata ibice bifite ishusho idasanzwe yo guterwamo inshinge no gukura ibice mu bimera bigoye.

Modules za linear axis: X-axis (guhinduranya imiyoboro), Y-axis (kwagura imbere n'inyuma), na Z-axis (guhinduranya imiyoboro ihagaze) akenshi bikoresha uruhurirane rw'amabwiriza ya linear accurate cyane na vis. Amabwiriza akozwe mu cyuma gikomeye gifite ubuso buto buto. Hamwe n'udupira duto dufite ubushobozi bwo gushyiramo ibintu mbere, bituma amakosa ari kuri linear ari hagati ya 0.02mm/m mu gihe cyo kugenda. Amavuta ya vis ahujwe neza na moteri itwara imizigo binyuze mu buryo bw'imirongo, bigatuma imikorere yo kuzenguruka iba iri kuri linear displacement. Ibi bituma ubushobozi bwo kohereza ibintu burenga 90%, cyane cyane ugereranije na sisitemu zisanzwe za rack na pinion, bigabanya neza igihombo cy'ingufu.

Imirongo izunguruka: Imirongo ya A (guzunguruka kw'ukuboko) na B-axis (guzunguruka kw'ukuboko) ni byo bintu by'ingenzi mu guhindura imiterere y'imyanya. Imirongo igabanya ubukana bw'ubuhanga ikoreshwa neza cyane mu ngingo, aho gukanda inyuma bigenzurwa kugeza ku munota umwe w'umurambararo. Iyo ihujwe n'ubushobozi bwo gushyiramo umuvuduko w'imirasire n'umurambararo w'ibyuma bizunguruka, byemeza ko umusaruro uhamye wo kuzunguruka ndetse n'uburyo bwo gushyiramo 0.1° ari ubwiza. Mu mikorere y'umuvuduko mwinshi, umuvuduko uhindagurika w'imirongo izunguruka ushobora kugera kuri 500°/s, ugahura n'ibikenewe mu guhinduranya byihuse.

Sisitemu yo gutwara: "Imitsi" y'ingufu zisohoka

Sisitemu yo gutwara ya robo ifite imigozi itanu ikora nk' "imitsi," itanga imbaraga zigenzurwa neza ku ngendo za buri mugozi. Muri iki gihe, ibisubizo by'ingenzi byo gutwara biri mu byiciro nka moteri za servo na moteri za stepper. Servo drives, hamwe n'akamaro kazo mu kugenzura closed-loop, ni zo ziganje mu gukora injection molding nziza.

Ibikoresho byo gutwara Servo bigizwe na moteri ya servo, encoder, na driver. Moteri ikoresha magnets zihoraho za rare earth, itanga ubucucike bwinshi bwa torque n'ingufu zihamye ndetse no ku muvuduko muto. Ubusanzwe ubushobozi bwo gukodesha bugera kuri biti 20 (1,048,576 pulses kuri buri revolution). Bihujwe na algorithme ya PID yo kugenzura umushoferi, ibi bigira ikosa ryo kugenzura aho uhagaze rya ≤0.01mm. Mu bihe byo gukuraho ibice byihuse cyane, igihe cyo kwihuta no kugabanya umuvuduko cya sisitemu ya servo gishobora kugenzurwa mu minota 0.1, igihe cyo guhura n'igihe kirenga cycles 120 ku munota.

Igishushanyo mbonera cy’ihuza ry’imashini: Sisitemu yo gutwara n’umurongo ugenda bihujwe hakoreshejwe uburyo bworoshye bwo guhuza cyangwa umukandara uhuza. Uduce duhuza dushobora kwishyura imiterere mibi y’imashini no kugabanya ingaruka z’imizigo iterwa na moteri. Uduce duhuza umukandara duhuza neza dukwiriye kohereza ingufu mu ntera ndende. Imiterere yatwo y’umukandara wa polyurethane n’inkingi y’icyuma bituma imashini ikora neza mu gihe ikomeza kwangirika mu gihe cy’amasaha 10.000.

Umusaruro w'Imperuka: "Ikiganza" cy'Imikoranire mu Mikorere

Igice cy'ingenzi (gripper) ni cyo gikorana neza na Ukuboko kwa Robot n'igice cyabumbwe mu injection. Imiterere yacyo igomba guhindurwa hakurikijwe imiterere y'icyo gicuruzwa. Ubwoko busanzwe burimo ibikoresho bikoresha umwuka, ibikombe bikurura umwuka, n'ibikoresho bya rukuruzi. Icyibandwaho cyane ni uguhinduranya vuba no gukorana neza n'ukuboko kwa robo.

Imiterere y'Ingufu: Imashini ikoresha umwuka ikoresha icyuma gifata piston ebyiri gifite imbaraga zo gufata zingana na 5-500N. Ifite intoki za silicone cyangwa polyurethane kugira ngo ijyane ibice byabumbwe mu buryo bwo guterwamo ibikoresho n'imiterere bitandukanye. Igikombe cyo gukurura umwuka gikoresha icyuma gitanga umuvuduko wa Venturi kugira ngo gitange umuvuduko ukabije wa -80kPa. Imashini imwe ishobora gutwara ibiro birenga 5, bigatuma ikwiriye cyane ibice binini bya pulasitiki. Hari ubwoko bumwe bwo mu rwego rwo hejuru bufite aho buhurira n'impinduka zihuse, bigabanura igihe cyo guhindura kikagera munsi y'amasegonda 30, bihaza ibyifuzo by'imashini nyinshi kandi zikora neza.

Igishushanyo mbonera cyo kuringaniza imizigo: Hashyirwaho uburyo bwo kugenzura uburemere bw'imizigo aho ifata mu gihe nyacyo. Iyo umutwaro urenze urugero rw'umutwaro (ubusanzwe 120% by'umutwaro), sisitemu ihita itangira uburyo bwo kurinda, igahagarika ingendo no gutanga inzogera kugira ngo hirindwe kwangirika kw'imiterere y'imashini bitewe no kurenza urugero rw'umutwaro. Ubu buryo butuma robo ishobora kwakira imizigo iri hagati ya kg 5 na 50, ikaba ikora ku byo ikenera kuva ku bice bito by'ikoranabuhanga kugeza ku bice binini bya pulasitiki by'imodoka.

Imiterere y'inkunga: "Urugingo" rutuma habaho ituze

Imiterere y'inkunga irimo ibice bitwara imizigo nk'ishingiro, inkingi, n'imiringa. Uburimbane bwayo n'imiterere yayo yoroheje bigira ingaruka zitaziguye ku buryo robo ikora neza no gukoresha ingufu. Roboti zigezweho zifite umurongo wa gatanu muri rusange zikoresha igishushanyo mbonera cya modular, zikoresha isesengura ry'ibintu bito kugira ngo zinoze uburyo bwo gukwirakwiza stress mu miterere.

Guhitamo ibikoresho n'ibikoresho: Inkingi n'imirimbo bikunze gukorwa mu buryo bukomeye bwa aluminiyumu (nk'urugero 6061-T6), byashyizwemo anodized kugira ngo bitangiza no kudashira. Ibyuma bikomeza kwiyongera bishyirwa mu bice by'ingenzi bitwara imizigo, bigabanya uburemere rusange ho 30% mu gihe bigenzura ko nta guhindagurika kwa ≤0.5mm/m2. Ishingiro ryubatswe mu byuma bishongeshejwe, kandi uburyo bwo gusaza bukuraho imihangayiko imbere, butuma imikorere ihora ihagaze neza.

Imiterere y’ingufu zifata no kurinda: Udupapuro dufata imirambo dushyirwa aho imiterere y’inkunga ihurira n’ubutaka, tugafata hejuru ya 90% by’imitingito ikunze kwihuta. Ibipfukisho bikingira bishobora gusubizwa inyuma bishyirwa hirya no hino ku bice bigenda, byubatswe mu buryo bwa nylon ifite urwego rwinshi n’imiterere y’icyuma. Bigera ku gipimo cya IP54 kandi birinda neza ivumbi n’amavuta kwanduzwa mu icupa ry’inshinge.

Agaciro k'umusaruro kazanwa n'inyungu z'inyubako

Igishushanyo mbonera cya roboti ikora imashini ikora imashini ifite umurongo wa gatanu w’imashini, gifasha mu kunoza umusaruro no kunoza ireme ry’ibicuruzwa. Guhuza kwayo n’umurongo wa multi-axis byongera umuvuduko wo gukuraho ibice ku kigero cya 40%, bigatuma ibice bifatwa icyarimwe mu bice byinshi mu buryo bugoye nta nkomyi. Gushyira ahantu nyaburanga neza (gusubiramo ≤ ± 0.05mm) bigabanya ibyago byo kugongana hagati y’ibice n’imashini, bigabanya igipimo cy’ubusembwa kikagera munsi ya 0.1%.