Buku Lotsogolera Mfundo Zofunika Kwambiri Poyesa ndi Kuyesa Zida za Roboti za Three-Axis Servo

Choyenera Kuwerenga Musanagule: Buku Lotsogolera ku Mfundo Zofunikira Poyesa ndi Kuyesa Ma Axis Atatu Servo Robot Arms

Mu funde la automation yamafakitale, manja a loboti ya servo ya axis atatu, Chifukwa cha kulondola kwawo kwakukulu komanso kukhazikika kwawo, akhala zida zofunika kwambiri popanga zamagetsi, zida zamagalimoto, ma phukusi a chakudya, ndi zina. Komabe, chifukwa cha zinthu zambiri zomwe zili pamsika, n'zovuta kudziwa ngati chipangizocho chili choyenera zosowa zanu zopangira kutengera mapepala a data okha. Kuyesa ndi kuyesa musanagule ndi njira zofunika kwambiri zochepetsera zoopsa zogulira ndikuwonetsetsa kuti zikugwira ntchito bwino. Nkhaniyi isanthula mfundo zazikulu zoyesera ndi kuyesa mikono ya robot ya servo ya axis itatu kuchokera kuzinthu zinayi: kukonzekera musanayese, kuyesa magwiridwe antchito, kutsimikizira chitetezo, ndi kuwunika momwe zinthu zikuyendera, kuti zithandize ogula kusankha molondola zida zomwe zimakwaniritsa zomwe akuyembekezera.

I. Musanayambe Kuyesedwa: Kukonzekera Koyamba Kutatu kwa Kuyesedwa Kogwira Mtima Kwambiri

Kuyesa mayeso sikungokhudza "kutenga zida ndikuziyatsa." Kukonzekera bwino pasadakhale kungalepheretse kusintha kwa njira yoyesera ndikuwonjezera phindu la zotsatira. Tikukulimbikitsani kuyamba ndi mfundo zitatu izi:

1. Fotokozani zolinga za mayeso ndi momwe zikugwirizana ndi zomwe zikuchitika.

Choyamba, fotokozani momveka bwino zolinga zoyesera kutengera zosowa zanu zopangira. Mwachitsanzo:
Ngati chipangizocho chikugwiritsidwa ntchito popangira zida zamagetsi, yang'anani kwambiri pa kuyesa "kubwerezabwereza" ndi "kusalala kwa mayendedwe";
Ngati imagwiritsidwa ntchito posamalira zinthu zolemera (monga ziwalo zolemera kuposa 5kg), yang'anani pa "kulemera kwa katundu" ndi "kukhazikika kwa mphamvu ya servo motor";
Ngati ikufunika kuphatikizidwa mu mzere wopangira womwe ulipo kale, ndikofunikiranso kutsimikizira pasadakhale kuti ikugwirizana ndi "kukula kwa chipangizo," "mawonekedwe oikira," ndi kapangidwe ka workshop.

Ndikofunikira kupanga "Mndandanda wa Zofunikira pa Mayeso" ndikufotokozera momveka bwino "zofunikira" za chinthu chilichonse choyesera (monga, kubwerezabwereza kuyenera kukhala ≤±0.02mm) kuti tipewe zisankho zokondera pambuyo pake chifukwa cha kuweruza kwaumwini.

2. Konzani Malo Oyenera Oyesera ndi Zida

Kagwiridwe ka ntchito ka mkono wa servo robot wa axis zitatu kamakhudzidwa kwambiri ndi chilengedwe, kotero malo oyesera ayenera kutsanzira zochitika zenizeni zopanga:

Zofunikira pa Malo: Sungani "ulendo wotetezeka" wokwanira kuti chipangizocho chiyende (onani deta yoyendera ya axis mu datasheet ya chipangizocho, mwachitsanzo, 300mm ya X-axis, 200mm ya Y-axis, ndi 150mm ya Z-axis, ndipo lolani malo owonjezera a 10%-20%.

Mphamvu ndi Gwero la Mpweya: Tsimikizirani kuti magetsi (monga AC 220V/380V) ndi kuthamanga kwa mpweya (monga 0.5-0.7MPa) zikugwirizana ndi zofunikira za chipangizochi kuti zipewe kusokonekera kwa injini ya servo komwe kumachitika chifukwa cha kusakhazikika kwa magetsi.

Zida Zoyesera: Konzani zida zoyezera zolondola kwambiri (monga, micrometer, laser interferometer), zida zoyezera katundu (monga, zitsulo zolemera zoyenera), ndi fomu yolembera deta (kuti mulembe deta yoyesera ndi zolakwika).

3. Fotokozani tsatanetsatane wa chithandizo choyesera ndi wogulitsa.

Uzani izi ndi wogulitsa pasadakhale kuti muwonetsetse kuti mayeso ake ndi osavuta:

Kaya malangizo aukadaulo omwe ali pamalopo adzaperekedwa kuti apewe kuwonongeka kwa zida chifukwa cha kusagwira ntchito bwino;

Kaya kuyesa mapulogalamu apadera (monga kutsanzira kayendedwe ka "grasp-move-place" komwe kamagwiritsidwa ntchito popanga) kukuloledwa;

Ngati magwiridwe antchito sakukwaniritsa zofunikira panthawi yoyesa, kaya kusintha kwa magawo kapena kusintha kwa chitsanzo cha chipangizocho kumathandizidwa.

II. Kuyesa kwa Magwiridwe Abwino Kwambiri: Kuyang'ana pa Ziyeso Zisanu Zofunikira Kuti Mudziwe Kulondola ndi Kukhazikika kwa Zipangizo

Mtengo wofunikira wa mkono wa servo robot wa axis zitatu uli mu "kulondola kwambiri" ndi "kukhazikika kwakukulu." Kuyesa kumayang'ana kwambiri pakutsimikizira miyezo isanu yotsatirayi. Kuyesa kulikonse kuyenera kubwerezedwa katatu mpaka kasanu, ndipo mtengo wapakati uwerengedwe kuti muchepetse cholakwika.

1. Kubwerezabwereza: "Njira Yothandizira" Kugwiritsa Ntchito Mafakitale

Kubwerezabwereza kumatanthauza kupotoka pamalo a effector yomaliza (monga gripper) chipangizocho chikachita zomwezo kangapo. Ndi muyeso wofunikira kwambiri pakugwiritsa ntchito monga kusonkhana kwamagetsi ndi kuwotcherera kolondola.​
Njira Yoyesera:
Ikani chizindikiro choyimbira kumapeto kwa mkono wa loboti ndipo gwirizanitsani chipangizo choyimbira ndi malo okhazikika (monga pini yopezera malo pamalo ogwirira ntchito).
Lembani pulogalamu kuti mkono wa loboti usunthire chizindikiro cha dial kupita kumalo ofotokozera ndikulemba kuwerenga kwa chizindikiro cha dial.
Bwerezani izi kasanu ndikuwerengera kusiyana pakati pa kuwerengera kwakukulu ndi kocheperako. Izi zikuyimira kubwerezabwereza.
Zofunikira:
Ma robot a servo a grade atatu a mafakitale amafunika kubwerezabwereza kwa ≤±0.05mm, pomwe zida zolondola zimafuna kubwerezabwereza kwa ≤±0.02mm (kutengera zomwe mukufuna kupanga, mwachitsanzo, kuyika chophimba cha foni yam'manja kumafuna ≤±0.01mm).
Dziwani: Mukayesa, lekani ntchito ya "error compensation" (zipangizo zina zimakhala ndi compensation yomwe yayatsidwa mwachisawawa, zomwe zingabise kulondola kwenikweni). Onetsetsani kuti malo ogwirira ntchito alibe kugwedezeka (gwiritsani ntchito ma anti-vibration pads pansi).

2. Kulondola kwa Malo: Kutsimikizira Kulondola kwa Njira Yoyenda

Kulondola kwa malo kumatanthauza kusiyana pakati pa malo enieni a effector yomaliza ndi malo okonzedweratu pambuyo poti chipangizocho chachita kuyenda, zomwe zimakhudza kupitiriza kwa njira yopangira. Njira Yoyesera:
Gwiritsani ntchito laser interferometer kuti mupange njira yoyezera, ndikuyika chowunikira kumapeto kwa mkono wa loboti.
Sankhani malo oyesera 5-8 mofanana mkati mwa mtunda woyendera wa ma axes a X, Y, ndi Z (mwachitsanzo, kuyambira 0mm mpaka ulendo wapamwamba kwambiri pa X axis, sankhani malo 50mm iliyonse).
Yang'anirani mkono wa loboti pa mfundo iliyonse yoyikidwa, lembani kupotoka kwenikweni kwa malo komwe kwawonetsedwa ndi laser interferometer, ndikuwerengera kupotoka kwakukulu pa mfundo zonse.

Zofunikira: Kulondola kwa malo kuyenera kukhala ≤ kawiri kuposa kubwerezabwereza (monga kubwerezabwereza ±0.02mm, kulondola kwa malo ≤ ±0.04mm), ndipo kupotoka kuyenera kukhala kokhazikika (popanda kusinthasintha mwadzidzidzi).

3. Kulemera kwa Katundu: Tsimikizani "Malire a Katundu" a Zipangizo

Kulemera kwa katundu kumatanthauza kulemera kwakukulu (kuphatikizapo kulemera kwa chogwirira) komwe kumapeto kwa mkono wa loboti kumatha kuchirikiza pa liwiro lovomerezeka. Kupitirira katundu wovomerezeka kungayambitse moto wa servo kutentha kwambiri, kuchepetsa liwiro la kuyenda, kapena kuwononga zida. Njira Yoyesera:

Ikani chogwirira ntchito chokhazikika kumapeto kwa mkono wa loboti (kulemera kumawonjezeka pang'onopang'ono kuchoka pa 50% mpaka 120% ya katundu wovomerezeka. Mwachitsanzo, ngati katundu wovomerezeka ndi 5kg, yesani kulemera kwa 2.5kg, 5kg, ndi 6kg).

Konzani mkono wa loboti kuti mumalize kuzungulira kwa "lift + translation" pa liwiro lovomerezeka (onani deta ya chipangizocho, mwachitsanzo, liwiro lalikulu la X-axis la 500mm/s) (yesani maulendo 10 pa katundu aliyense).

Yang'anirani momwe chipangizochi chikugwirira ntchito: ngati pali kutsika kwa liwiro, phokoso losazolowereka la injini, kapena ma alamu (monga kuchuluka kwa zinthu).

Zofunikira:

Pansi pa katundu woyesedwa, chipangizocho sichiyenera kupanga phokoso kapena ma alarm osayenera, ndipo liwiro la kuyenda liyenera kukhala logwirizana ndi deta. Pa 110%-120% ya katundu woyesedwa, kutsika pang'ono kwa liwiro (≤10%) kumaloledwa, koma ma alarm kapena kutseka sikuloledwa.

4. Liwiro ndi Kuthamanga: Kukhudza Kugwira Ntchito Bwino kwa Kupanga

Liwiro ndi kufulumizitsa zimatsimikiza mwachindunji momwe loboti imagwirira ntchito. Kuyesa kuyenera kuchitika motsatira zofunikira pakupanga kuti zitsimikizire kuti chipangizocho chikhoza kukwaniritsa magwiridwe antchito omwe akuyembekezeredwa.
Njira Yoyesera:
Gwiritsani ntchito chowerengera nthawi kuti mulembe nthawi yomwe lobotiyo imatenga kuti amalize "mtunda wochokera pa mfundo A kupita pa mfundo B" (mtunda wodziwika bwino, monga kuyenda kwa 200mm X-axis) ndikuwerengera liwiro lenileni (liwiro = mtunda / nthawi).
Yesani kuyenda kwa lobotiyo pa liwiro losiyanasiyana (monga kuwonjezera liwiro kuchoka pa 0.5m/s² kufika pa 1.5m/s²) kuti muwone ngati pali "chibwibwi" kapena "kupitirira muyeso" (monga, kubwerera mmbuyo mutadutsa malo omwe mwakhazikitsa).

Zofunikira:
Liwiro lenileni liyenera kukhala ≥ 90% ya mtengo womwe watchulidwa mu pepala la deta (monga, ngati pepala la deta likuwonetsa liwiro lalikulu la X-axis la 600mm/s, liwiro lenileni liyenera kukhala ≥ 540mm/s). Pakusintha kwa liwiro, kayendedwe kayenera kukhala kosalala, popanda kupitirira malire koonekera (kupitirira malire kuyenera kukhala ≤ ±0.1mm).

5. Kukhazikika kwa Ntchito Yopitilira: Kuyerekeza Zochitika Zopanga Kwanthawi Yaitali

The Roboti MMuyenera kugwira ntchito mosalekeza kwa maola 8-12 m'malo opangira zinthu. Kuyesa kukhazikika kumatha kuzindikira mavuto omwe angakhalepo chifukwa cha kugwira ntchito kwa nthawi yayitali (monga kutentha kwambiri kwa injini, kulumikizana kosagwira ntchito bwino kwa mawaya). Njira Yoyesera:

Pangani pulogalamu yozungulira yomwe imatsanzira kupanga kwenikweni (monga, "gwirani - sunthani - yikani - bwererani komwe munayambira," ndipo kuzungulira kulikonse kumatenga masekondi 10).

Yendetsani zida mosalekeza kwa maola 4, kulemba deta yofunika mphindi 30 zilizonse: kutentha kwa injini ya servo (komwe kumayesedwa ndi thermometer ya infrared, nthawi zambiri ≤60°C), phokoso logwira ntchito (komwe kumayesedwa ndi choyezera phokoso, nthawi zambiri ≤70dB), ndi ma alamu aliwonse.

Mukamaliza kuyeserera, yesaninso kubwerezabwereza kuti mudziwe ngati kutentha kwapangitsa kuti kulondola kuchepe.

Zofunikira:

Palibe ma alarm kapena phokoso losazolowereka panthawi yogwira ntchito mosalekeza, kutentha kwa injini kokhazikika (kusiyana kwa kutentha ≤10°C); kupotoka kobwerezabwereza pambuyo poyendetsa ndi ≤15% ya mtengo woyambirira woyeserera.

III. Kuyesa Chitetezo ndi Kugwirizana: Kupewa Mavuto Osintha Pambuyo pake

Kuwonjezera pa magwiridwe antchito ofunikira, chitetezo ndi kuyanjana kwa chipangizocho zimakhudza mwachindunji "mtengo wotera" wa chipangizocho. Kunyalanyaza mayeso awiriwa kungayambitse kusintha kwa mzere wopanga, zochitika zachitetezo, ndi mavuto ena.

1. Kuyesa Chitetezo: Magawo Atatu a Chitetezo Chogwira Ntchito

Manja a servo robotic a axis atatu ndi zida zodzichitira zokha ndipo ayenera kutsatira miyezo yachitetezo cha mafakitale (monga ISO 13849). Zofunikira kwambiri pakuyesa ndi izi:

Ntchito Yoyimitsa Padzidzidzi: Mukadina batani loyimitsa padzidzidzi, chipangizocho chiyenera kuyimitsa mkati mwa masekondi 0.5, ndi ma axes onse otsekedwa (osasuntha momasuka). Mukayambiranso, chiyenera kubwerera komwe chinayambira chisanagwire ntchito.

Zipangizo Zotetezera: Ngati chipangizocho chili ndi chitseko cha nyali yotetezera/chitseko chachitetezo, ngati chinthu chatseka chitseko cha nyali kapena kutsegula chitseko chachitetezo, chipangizocho chiyenera kuyimitsa nthawi yomweyo ndipo sichingayambitsidwenso pamanja (chiyenera kubwezeretsedwanso ntchito isanayambe).

Chitetezo cha Kulemera Kwambiri: Pamene katundu womaliza wapitirira 150% ya mtengo wovomerezeka, chipangizocho chiyenera kuyambitsa alamu yodzaza kwambiri ndikuzimitsa kuti injini isatenthe (izi zitha kuyesedwa potsegula chowonjezera cholemera kwambiri).

2. Kuyesa Kugwirizana: Kuonetsetsa Kuti Kuphatikizidwa mu Mizere Yopangira Ilipo

Ngati mkono wa loboti wogulidwa ziyenera kugwiritsidwa ntchito ndi zida zomwe zilipo kale (monga ma conveyor, makina owongolera a PLC, kapena zida zowunikira zowonera), kuyesa kuyanjana ndikofunikira:

Kugwirizana kwa Chiyankhulo Cholumikizirana: Yesani ngati chiyankhulo cholumikizirana cha chipangizocho (monga RS485, EtherCAT, kapena Profinet) chingalumikizane bwino ndi PLC yomwe ilipo komanso ngati kulumikizana kwa "PLC kutumiza lamulo - loboti imachita kanthu" kungatheke (monga, pambuyo poti conveyor yapereka ntchito pamalo omwe atchulidwa, lobotiyo imagwira yokha);

Kugwirizana kwa Mapulogalamu: Ikani pulogalamu yowongolera ya wogulitsayo ndikuyesa ngati ikugwira ntchito pa makompyuta omwe alipo kale (monga Windows 10/11), imathandizira mapulogalamu apadera (monga ma diagram a makwerero, G-code), ndipo ndi yosavuta kugwiritsa ntchito (monga, ili ndi mawonekedwe owoneka bwino komanso kuthekera kozindikira zolakwika);

Kugwirizana kwa Mphamvu Yomaliza: Yesani ngati mawonekedwe a flange a chipangizocho akugwirizana ndi ma gripper omwe alipo (monga, ma pneumatic grippers, ma vacuum cups), ndipo amathandizira kuyankha kwa chizindikiro cha gripper (monga, ma signal a "grasp success/failure" omwe amatumizidwa ku control system).

IV. Kuyesa Pambuyo: Malizitsani Ntchito Ziwiri Zomaliza Kuti Mupereke Maziko a Zisankho Zogula

Pambuyo pa mayeso, deta iyenera kukonzedwa mwachangu ndipo nkhani zilizonse ziyenera kufotokozedwa kuti zipewe kuchotsedwa kulikonse komwe kungakhudze zisankho zogulira.

1. Konzani Lipoti Loyesa Kuti Muyeze Kugwira Ntchito kwa Zipangizo

Konzani deta yonse yoyesera mu tebulo, kufotokozera momveka bwino "chinthu choyesera, mtengo wokhazikika, mtengo weniweni, ndi kutsata malamulo." Mwachitsanzo:

Chinthu Choyesera
Mtengo Wamba
Mtengo Weniweni
Kutsatira malamulo
Kubwerezabwereza (X-axis)
≤±0.02mm
± 0.015mm
Kutsatira
Liwiro Logwira Ntchito Loyezedwa
≥500mm/s
480mm/s
Zalephera
Nthawi Yoyankha Mwadzidzidzi
≤0.5s
0.3s
Kutsatira

Komanso, lembani zolakwika zilizonse zomwe mwakumana nazo panthawi yoyesa (monga, "X-axis imapanga phokoso lachilendo pansi pa katundu wa 6kg" kapena "Mawonekedwe olumikizirana nthawi zina amalekanitsidwa") ndipo lembani yankho la wogulitsa (monga, "Phokoso linatha pambuyo posintha magawo a injini").

2. Yerekezerani ogulitsa ambiri ndikuwunika bwino momwe ndalama zimagwiritsidwira ntchito

Ngati mukuyesa zida kuchokera kwa ogulitsa angapo, ganizirani kufananiza kwathunthu kutengera kutsata magwiridwe antchito, mtengo, ndi ntchito yogulitsa pambuyo pogulitsa:

Kutsatira magwiridwe antchito: Ikani patsogolo zida zomwe zikukwaniritsa zofunikira zonse zofunika (monga kubwerezabwereza ndi kukhazikika), ndi zofunikira zazing'ono zazing'ono (monga phokoso) zopitilira miyezo koma zosinthika.

Mtengo: Pewani kutsata mtengo wotsika kwambiri mosazindikira; werengerani mtengo wogulira + ndalama zosamalira zomwe zikupitilira (monga chitsimikizo cha mota ya servo ndi zida zina).

Utumiki wogulitsira pambuyo pa malonda: Tsimikizirani ngati wogulitsayo akupereka kukhazikitsa ndi kukhazikitsa, maphunziro a ogwiritsa ntchito, ndi chitsimikizo cha chaka chimodzi, komanso ngati ali ndi malo ochitira ntchito pambuyo pa malonda (izi zitha kuchepetsa nthawi yothetsa mavuto).

Pomaliza: Kuyesa koyeserera kuli ngati "inshuwaransi yogula," ndipo tsatanetsatane ndiye amene amatsimikiza mtengo wake weniweni.

Mtengo wogulira wa mkono wa loboti wa servo wa axis zitatu nthawi zambiri zimakhala kuyambira pa masauzande makumi ambiri mpaka mazana masauzande ambiri a yuan. Kuyesa kugula musanagule si "ndalama zowonjezera" koma "ndalama zofunika" kuti muchepetse chiopsezo. Mwa kufotokoza momveka bwino zolinga zoyesera, kuyang'ana kwambiri magwiridwe antchito, ndikutsimikizira chitetezo ndi kuyanjana, ogula amatha kudziwa molondola ngati zida zikugwirizana ndi zosowa zopangira, kupewa mavuto monga "kugula zida zolakwika" ndi "kuvuta ndi zosintha zina."

Ngati mukukumana ndi mavuto aukadaulo poyesa (monga momwe mungagwiritsire ntchito laser interferometer kapena kulemba pulogalamu yoyesera), musazengereze kulankhulana ndi gulu laukadaulo la wogulitsa kapena kufunsa bungwe loyesa zida zamagetsi. Kumbukirani: zida zokhazo zomwe zatsimikiziridwa kudzera mu kuyesa kwamunda ndizomwe zingathandize kuchepetsa ndalama komanso kukonza magwiridwe antchito popanga mafakitale.