Ins & Outs of Industrial Robotic Arms

Ins & Outs of Industrial Robotic Arms

Monga zida zogwirira ntchito zokha zomwe zimagwiritsidwa ntchito m'mafakitale, mkono wa robotic wa mafakitale uli ndi nkhwangwa zitatu kapena kupitilira apo.

Zimathandizira kusamutsidwa kwapang'onopang'ono kwa zida kapena zida zogwirira ntchito kuti zikwaniritse njira zopangira monga kuwotcherera, kupenta zopopera, palletizing, kutsitsa zida zamakina / kutsitsa ndikumanga.

1. Kusiyana Pakati pa Mikono ya Industrial Robotic ndi Maloboti Ogwirizana

Zida zama robotic za mafakitale zimawonetsa kuthamanga kwachangu komanso mphamvu zogwira ntchito, zopangidwira kuthamanga kwambiri, zolemetsa zolemetsa komanso kupanga misala mosalekeza. Ayenera kuzingidwa ndi mipanda yoteteza chitetezo kuti alekanitse anthu ndi makina, zomwe zimapangitsa kuti anthu asamagwirizane- ndi maloboti.

Maloboti ogwirizana amakhala ndi-zozindikiro zamphamvu zozindikira kugunda, zomwe zimayima nthawi yomweyo polumikizana ndi ogwira ntchito. Ngakhale kukhathamiritsa kwa liwiro komanso kuchuluka kwa malipiro, nthawi zambiri safuna mipanda yachitetezo ndipo amatha kugwira ntchito limodzi ndi ogwira ntchito pamalo omwewo.

2. Kusiyana kwa Magwiridwe Antchito

Ubwino wa zida za robotic zamakampani: kuthamanga kwambiri, kulipidwa kwambiri komanso kufikika kwautali, koyenera{0}}kupangidwa mochuluka mosalekeza.

Ubwino wa maloboti ogwirizana: mawonekedwe opepuka komanso osinthika, koma ocheperako komanso amalipira kwambiri, amangogwira ntchito pakukonza zopepuka ndi zazing'ono zogwirira ntchito.

3. Ntchito Zopanga Zopanga

Zida zama robotic za mafakitale: njira zolemetsa kwambiri{{0}zolemetsa{1}kuphatikiza zowotcherera, zokhotakhota, kupondaponda, ndi kukonza makina.

Maloboti ogwirizana: kupanga zing'onozing'ono-zigawo, kuyang'anira, kupukuta, kugwira ntchito mopepuka, ndi kupanga zosinthika ndi magulu ang'onoang'ono ndi mitundu yosiyanasiyana yazinthu.

Zida zama robotic za mafakitale zimakhala ndi mawonekedwe olumikizirana. Malo olimba amakhazikika pansi, okhala ndi maulalo angapo opangidwa ndi makina ozungulira olumikizidwa kumapeto-ku-kumapeto, mpaka kukafika pachiwono ndi kumapeto kwa zida. Zida zambiri zama robot pamsika zimatengera kapangidwe kameneka; maloboti ochepa ofananira alipo koma ali ndi zochitika zochepa, zomwe zidzafotokozedwe mtsogolo. Gulu lililonse limafanana ndi nkhwangwa imodzi yodziyimira payokha, ndipo mitundu yokhazikika imakhala ndi nkhwangwa zisanu ndi imodzi zolembedwa J1 mpaka J6.

Nkhwangwa zisanu ndi imodzizi zikugwera m'magulu awiri: Nkhwangwa zitatu zoyambirira J1 (m'munsi), J2 (mapewa) ndi J3 (chigongono) ndi nkhwangwa zoyika. J1 amazungulira mkono wonse kumanzere ndi kumanja, J2 amagwedeza mkono wapansi kutsogolo ndi kumbuyo, ndipo J3 amakweza ndikutsitsa mkono wapamwamba. Pogwira ntchito tandem, amatha kusuntha dzanja kumalo aliwonse mkati mwa envelopu yogwira ntchito.

Nkhwangwa zina zitatu J4, J5 ndi J6 zimaphatikizidwa mkati mwa dzanja ngati nkhwangwa zolowera. Amatha kugudubuza, kupendekera ndi kupotoza chida chomaliza kuti chigwirizane ndi zogwirira ntchito kuchokera kumbali iliyonse.

Mwachidule: nkhwangwa zitatu zimatsimikizira malo a chida, pamene zina zitatuzo zimasintha momwe zimakhalira. Nkhwangwa zisanu ndi imodzi zikuyimira masinthidwe ochepera ofunikira kuti akhazikitse ndi kuyimitsa chida momasuka nthawi iliyonse komanso mulingo uliwonse mumlengalenga, nchifukwa chake zida zisanu ndi chimodzi{1}}zofanana ndi zida za axis robotic ndizo njira yayikulu yopangira makina opangira mafakitale.

Pambuyo pochepetsa magawo asanu ndi limodzi -pama axis robotic arms, maloboti ogwirizana ndi ma palletizing, mapepala atsatanetsatane amakhala ngati chiwongolero chachikulu pakuwunika momwe modeli iliyonse ikuyendera. Magawo odziwika omwe amaperekedwa ndi opanga nthawi zambiri amakhala abwino kwambiri omwe amapezeka pansi pazikhalidwe zabwino zogwirira ntchito, zomwe nthawi zambiri zimabisa zolephera zogwira ntchito ndipo zimatha kupangitsa kusankha kolakwika kwachitsanzo.

Magawo asanu oyambira amatsimikizira mwachindunji magwiridwe antchito a manja a robotic: kuchuluka kwa malipiro, utali wogwirira ntchito, kubwereza kulondola kwa malo, nthawi yozungulira, ndi madigiri a ufulu (chiwerengero cha nkhwangwa). Makamaka, kuchuluka kwa malipiro ndi ma radius ogwira ntchito ndizoletsa; kuwunika kokwanira kumafunika m'malo mowunika gawo lililonse lodzipatula.

1. Malipiro

pamene mukugwira ntchito pa liwiro lovotera ndi kufika kokhazikika, popanda kuwonongeka kwa magwiridwe antchito kapena kutaya moyo wautumiki. Zopinga Zofunika Kupewa Posankha Chitsanzo

Osangoti calcuIt imatanthawuza kulemera kwakukulu komwe mkono wa robotic ungathe kunyamula mochedwa kulemera kwa chogwiriracho chokha; kulemera konse kwa Mapeto-a-Arm Tooling (EOAT) akuyenera kuonjezedwa, kuphatikizapo zomangira, makapu a vacuum suction, -zida zosinthira mwachangu, masensa ndi zingwe.

Miyezo iwiri ya Core

 

Malipiro ovotera amatanthauzidwa kutengera malo omwe ali ndi mphamvu yokoka komanso mtunda wokwera. Zida zolemera kwambiri kapena malo osunthika a mphamvu yokoka amachepetsa mphamvu yeniyeni ya katundu. Yang'anani nthawi zonse kuchuluka kwa malipiro-ofikira pamapindikira m'malo mongodalira mtengo womwe walengezedwa.

 Mphepete mwachitetezo cha 20% mpaka 30% iyenera kusungidwa pakusankhidwa kwachitsanzo kuti muthane ndi inertia panthawi yothamangitsa ndi kutsika ndikuwongolera zida zamtsogolo. Malipiro omwe amangokwaniritsa zofunikira zogwirira ntchito amawonetsa kucheperako.

2. Kufikira Kwambiri

Zimatanthawuza mtunda wowongoka kwambiri-kuchokera pakati pa maloboti oyambira mkono kupita ku flange ya zida, zomwe zimatsimikizira ntchito yabwino. Malo ake ogwirira ntchito simalo okhazikika; madera akhungu alipo pamwamba ndi pansi pa maziko, ndipo kuyenda molumikizana ndi koyipa kwambiri kumadera omwe ali pafupi ndi maziko.

Malangizo Osankha Zitsanzo

Osasankha chitsanzo chokhacho chotengera kufikira kwakukulu. Tsimikizirani envulopu yogwirira ntchito motsutsana ndi kusankha-ndi-malo, masanjidwe a zida, ndi malo olowera. Zida zomaliza zimatha kukulitsa ma radius ogwirira ntchito, komabe ma angles ozungulira olumikizana amachepetsa magwiridwe antchito. Kufikira kwautali kumafanana ndi kuchuluka kwa malipiro ochepa komanso malo okulirapo a chipindacho, chifukwa magawowa amalepheretsana.

3. Bwerezani Positioning Kulondola vs Mtheradi Positioning Kulondola

Bwerezani Kulondola Kwakayimidwe

Kufanana kwa mkono wa robotiki wobwerera mobwerezabwereza kumalo ophunzitsidwa pamanja, nthawi zambiri ± 0.0X mm. Ndilo gawo lalikulu lotsatsira lomwe limawunikiridwa ndi opanga ndipo ndiloyenera zochitika zambiri zogwirira ntchito zomwe zimakhala ndi zoyenda zokhazikika.

Mtheradi wa Position Kulondola

Kulondola kwa mkono wa robotiki wofikira kumagulu osaphunzitsidwa opangidwa kuchokera ku zojambula za CAD, mapulogalamu a pulogalamu yapaintaneti kapena machitidwe amasomphenya. Kulondola uku ndikotsika kwambiri pobwereza kulondola kwa malo ndipo sikumatchulidwa kawirikawiri muzotsatira zamalonda. Imagwira ntchito ngati gawo lofunikira kwambiri pamapulogalamu osalumikizidwa pa intaneti, kuphatikiza masomphenya ndikusinthana kwa ma robot.

Maganizo Olakwika

Ma metric awiriwa sasinthana. Kubwereza kobwerezabwereza sikutsimikizira kuti malo ali olondola kwambiri.

4. Nthawi Yozungulira / Kuthamanga Kwambiri

Izi zikuwonetsa kuchuluka kwa zida zopangira zida ndikuyimira index yodziwika bwino pamatchulidwe azinthu. Nthawi yozungulira komanso liwiro lalikulu lofalitsidwa ndi opanga zimawerengeredwa motsatira mikhalidwe yokhazikika yokhala ndi mtunda waufupi woyenda, zolipiridwa pang'ono ndi zowongoleredwa, zomwe sizingafanane ndi{1}}malo opangira padziko lonse lapansi.

Nthawi yeniyeni yozungulira imakhudzidwa ndi kulemera kwa katundu, mtunda waulendo, njira zapakatikati, ndi nthawi yokhalamo (yopereka, kuwotcherera, kusungitsa mwatsatanetsatane). Zotulutsa zenizeni nthawi zambiri zimakhala zotsika kuposa mtengo wake. Zoyezedwa zoyezetsa kapena zotsatira zoyeserera zidzakhalapo pazochitika zazikuluzikulu zopanga.

5. Madigiri a Ufulu (DOF) / Nambala ya Nkhwangwa

Zimatanthawuza kuchuluka kwa zolumikizana zosunthika pa mkono wa robotic, zomwe zimatsimikizira kusinthasintha kwa kaimidwe ka ntchito ya womaliza:

1. 4-maroboti aaxis (maroboti a SCRA, maloboti ambiri oyenda pansi): Liwiro lalitali komanso losasunthika, okhala ndi zotulutsa zimatha kugwira ntchito molunjika. Ndibwino kuti musankhe{3}}ndi malo, ma palleting ndi ntchito zosavuta zophatikiza.

2. Mikono ya robotic ya 6-axis: Maonekedwe osinthika pamakona onse, ndikupangitsa kuti pakhale doko lokhazikika ndi zogwirira ntchito. Zoyenera kuwotcherera, kuphatikiza zovuta, ndikutsitsa / kutsitsa makina opangidwa mosiyanasiyana.

3. 7-zida za robotic za axis redundant: Zimatha kupewa zopinga za zida kwinaku zikukhazikika-zogwira ntchito ngakhale m'malo ogwirira ntchito, oyenerera malo ogwirira ntchito omwe alibe malo.

Mfundo Yosankha: Konzani nkhwangwa malinga ndi zomwe mukufuna. Zokwera-zochuluka-zofunika kwambiri ndizosafunikira pa mapulani osavuta kuti mupewe kuwononga ndalama zosafunikira.

Mapepala ofotokozera amakhala ndi tanthauzo pokhapokha atagwirizana ndi njira zenizeni zopangira. Kubwerezabwereza kwa ± 0.05 mm, metric yofunikira pakuwotcherera, sikumayenderana ndi mizere yopondapo ya matani 400, pomwe nthawi yoyenda ndi malo apansi zimatsogolera.

1. Kuwotcherera: Sankhani Maloboti Otengera Weld Path M'malo mwa Payload

Kuwotcherera kwa Arc kumadalira kwambiri kutsatira njira yolondola. Ma weld seams nthawi zambiri amakhala opindika, ofukula, kapena okhazikika mkati mwake. Tochi yowotcherayo iyenera kukhala yosasunthika komanso yokhazikika, chifukwa dziwe lowotcherera limakhala losavuta kupatuka pang'ono. Ma tochi ndi zingwe zake zimalemera ma kilogalamu ochepa, ndiye kuti malipiro si chinthu chofunikira kwambiri. Zofunikira zazikuluzikulu zimaphatikizapo kulondola kwapanjira kopitilira, mkono wocheperako komanso wothamanga, komanso kugwira ntchito kokwanira. Njira yovomerezeka ndi 6-loboti yolumikizana ndi axis yokhala ndi zolipira zokwana 6–20kg, yokhala ndi zowonera msoko kapena zowonera kudzera pa arc komanso chowongolera chomwe chimatha kumasulira mosalala.

2. Kupaka & Kupaka Zomatira: Yang'anani Kupaka Kwa Mayunifolomu Kuposa Liwiro Lopopera

Miyezo iwiri yofunikira imagwira ntchito popenta maloboti: kuphulika kwathunthu{{0}kumanga kosakwanira ndi makulidwe osasinthasintha. Malo opangira penti amakhala ndi nkhungu yoyaka moto, zomwe zimapangitsa zida za robotic kukhala zoopsa kwambiri pamoto. Mfuti yopopera iyenera kukhalabe mtunda wokhazikika, ngodya ndi liwiro laulendo; kusuntha kosasinthasintha kumabweretsa zolakwika zofala monga kugwa, zigamba zopanda kanthu ndi mawonekedwe a peel lalanje. Ikani penti-zopaka m'mikono zamkati ndi mapaipi a mpweya kuti mupewe kusokonezedwa ndi mapaipi opopera. Maloboti opepuka, aatali-otalikirapo-amphamvu otsimikizira 6-axis ndi abwino, okhala ndi chitetezo chokwanira cha IP kuti asaponderezedwe mopitilira muyeso komanso amakonzedwa kuti aziyenda mokhazikika m'malo mogwira ntchito zolemetsa.

3. Palletizing & Depalletizing: Sankhani Maloboti ndi Payload, Fikirani ndi Cycle Time

Kulondola kwambiri sikofunikira pakuyika palletizing. Kusankha zitsanzo kumadalira pazifukwa zitatu: kuchuluka kwa malipiro, utali wogwirira ntchito ndi liwiro lozungulira. Standard makatoni kulemera 15-50 makilogalamu, ndi maloboti ayenera kuphimba zonse stacking dera pallets. Phale losanjikidwa 2 mita utali limafuna pafupifupi mamita atatu kuti lifike, ndipo zotuluka zake zimayesedwa ndi makatoni pamphindi imodzi. 4-maloboti a axis palletizing amatha kugwira ntchito bwino kwambiri. Manja awo odzipatulira oyima amachotsa nkhwangwa zosafunikira, kuwongolera mphamvu zonse zamagalimoto kuti zithe kunyamula ndikufikira kutali kuti zikhale zotsika mtengo.

Kuti muwone ngati tikukwanira, ikani zofunika zenizeni patsogolo pa injiniya. Tumizani mbali yanu yojambulira, nthawi yozungulira, ndi zovuta zama cell, ndipo tidzakukonzerani komanso nthawi yotsogolera - [Funsani mtengo] / [Lankhulani ndi injiniya] kapena titumizireni uthenga pa WhatsApp. Zambiri pazomwe tili patsamba lathu [Za tsamba], ndi zomanga zaposachedwa pansi [Maphunziro amilandu].