Kukhazikitsa magawo okhudzana ndi axis yopangira jekeseni ya robot ya axis zisanu

Jakisoni wa axis zisanu Robot Youmba Kukhazikitsa magawo okhudzana ndi mzere: Kuthandiza ogula ogulitsa padziko lonse lapansi kuti akwaniritse bwino ntchito yawo

Chiyambi
Mu makampani opanga zinthu padziko lonse lapansi, Maloboti Opangira Jekeseni zakhala zida zofunika kwambiri pakukweza magwiridwe antchito, kuchepetsa ndalama zogwirira ntchito komanso kukweza mtundu wa zinthu.Maloboti opangira jakisoni asanu Amakondedwa ndi ogula ogulitsa padziko lonse lapansi chifukwa cha luso lawo losinthasintha komanso ntchito zawo zolondola kwambiri.

Tanthauzo la Axis la loboti yopangira jekeseni ya axis zisanu
Tanthauzo la axis la robot yopangira jekeseni ya five-axis ndiye maziko a kukhazikitsa magawo. Nthawi zambiri, ma axes a robot yopangira jekeseni ya five-axis ndi awa:
Z axis: mzere wolowera ndi wotuluka wa loboti, womwe umayang'anira kayendetsedwe konse kolunjika ka loboti.
X1 axis: mzere wakutsogolo ndi wakumbuyo wa mkono waukulu, womwe umagwiritsidwa ntchito poyendetsa mkono waukulu mopingasa.
X2 axis: mzere wakutsogolo ndi wakumbuyo wa mkono wothandiza, kugwira ntchito ndi mkono waukulu kuti ukwaniritse kuyenda kovuta kopingasa.
Mzere wa Y1: mzere wokwera ndi wotsika wa mkono waukulu, womwe umalamulira kuyenda koyima kwa mkono waukulu.
Mzere wa Y2: mzere wokwera ndi wotsika wa mkono wothandiza, wogwirizana ndi mkono waukulu kuti umalize kuyenda kovuta koyima.
C-axis: Mzere wopingasa ndi wowongoka wa chogwirira chachikulu cha mkono, womwe umagwiritsidwa ntchito pozungulira chogwirira kuti chigwire ntchito mozungulira mbali zambiri.
Kukhazikitsa kwa magawo a X1, X2 axis
Kutembenuka kwa galimoto
Mwachisawawa, pamene mota ikuzungulira mozungulira mozungulira wotchi, mzerewo umachoka pa komwe imachokera. Ngati mukufuna kusintha njira, mutha kuyang'ana njira yosinthira mota kuti mota iyende pafupi ndi komwe imachokera ikazungulira mozungulira wotchi.
Kusuntha kwakukulu
Ikani mtunda wokwanira womwe X-axis imasuntha kuti muwonetsetse kuti lobotiyo ikugwira ntchito pamalo otetezeka.
Kuchotsera koyambira
Ntchito ya origin offset imalola loboti kupitiliza kuyenda mtunda wina atabwerera ku origin. Pamene mtengo wa offset uli wabwino, loboti imachoka pa origin; pamene mtengo wa offset uli woipa, imapita ku origin.
Malo ocheperako/apamwamba kwambiri oyambira nkhungu
Pamene mzere wa Y ukutsika mu chikombole, malo ocheperako komanso apamwamba kwambiri omwe mzere wa X ungasunthe. Magawo awa amatsimikizira kuti lobotiyo siidutsa malire otetezeka ikagwira ntchito mu chikombole.

Kuyesa kwa injini kutsogolo ndi kumbuyo
Kuyesa kutsogolo ndi kumbuyo kwa injini kungatsimikizire ngati njira ya injiniyo ndi yolondola. Nthawi zonse, kuyesa kutsogolo kwa injiniyo ndi mayankho ziyenera kuwonetsa 10000, kuyesa kumbuyo kukuwonetsa 10000, ndipo kuwonetsa mayankho -10000.
Mtunda pa kusintha kulikonse
Khazikitsani mtunda womwe mota iliyonse ya servo axis imayendera pa kuzungulira kulikonse. Onetsetsani kuti zoikamo za parameter ndi zolondola poyesa mtunda womwe axis imasuntha pamene mota ikuzungulira patsogolo.
Kukhazikitsa kwa magawo a Y1, Y2 axis
Malo oimikapo magalimoto ambiri
Ikani malo okwanira oimikapo magalimoto a Y1 kuti muwonetsetse kuti lobotiyo isapitirire malire a chitetezo ikayima.
Malo oyambira ulendo
Ikani malo a switch yoyambira yotsika ya Y1 axis. Ngati mtengo wokhazikitsa ndi wochepa kwambiri, ukhoza kuyambitsa alamu ya system.

Kuyesa kwa injini kutsogolo ndi kumbuyo
Mofanana ndi X-axis, kuyesa kwa Y-axis motor kutsogolo ndi kumbuyo ndi gawo lofunikira kuti muwonetsetse kuti motayo ikupita molondola.
Kukhazikitsa kwa magawo a Z-axis
Malo otetezedwa mkati mwa chikombole
Ikani malo a malo otetezera omwe akusankhidwa mu chikombole kuti muwonetsetse kuti lobotiyo ili ndi chitetezo pamene ikugwira ntchito mu chikombole.
Malo otetezera a nkhungu
Ikani malo a chitetezo cha chinthu chakunja kuti loboti isagunde ikagwira ntchito kunja kwa chikombole.

Kukhazikitsa kwa magawo a C-axis
Kuzungulira kwakukulu
Kuzungulira kwakukulu kwa C-axis ndi madigiri 360, komwe kumatha kukhazikitsidwa malinga ndi zosowa zenizeni.
Kuchotsera koyambira
Gawo la origin offset la C-axis ndi (-90, +90). Pamene mtengo wa offset uli wabwino, robot imapita ku origin; pamene mtengo wa offset uli woipa, imapita kumbali ina ya maximum displacement.
Malo otetezeka opingasa
Mukayenda mopingasa, chepetsani ngodya yotetezeka ya chogwiriracho. Mwachitsanzo, (0-20; 300-360) ndi malo otetezedwa opingasa a C-axis.

Kusintha kwa magawo a Servo
Kusintha kwa magawo a servo a loboti yopangira jekeseni ya five-axis ndiye chinsinsi chotsimikizira kuti lobotiyo ikugwira ntchito bwino. Kudzera mu dongosolo loyendetsera ndi kulamulira la Huacheng Industrial Control, ogwiritsa ntchito amatha kukhazikitsa magawo patsamba losinthira magawo a makina a parameter-structure-servo. Masitepe okhazikitsa akuphatikizapo:
Dinani batani loyimitsa mwadzidzidzi kuti mulowetse mawonekedwe osinthira magawo a servo.
Lowetsani nambala ya parameter ya servo.
Lowetsani mtengo womwe mukufuna mu bokosi la "Parameter Value" ndikudina batani la "Send".
Chongani ngati mtengo wa parameter wapano ukugwirizana ndi mtengo womwe mukufuna kuti mutsimikizire kuti parameter yakhala yopambana.
Pambuyo poti magawo akhazikitsidwa bwino, yambaninso servo ndi chowongolera chamanja kuti magawo atsopano agwire ntchito.

Milandu Yogwiritsira Ntchito
Chowongolera cha servo cha manja awiri chokhala ndi axis zisanu
Ma manipulator a servo okhala ndi mikono iwiri amagwiritsidwa ntchito kwambiri mu makina opangira nkhungu ndi makina opangira nkhungu okhala ndi mbale zitatu. Mwachitsanzo, mndandanda wa ma SW63 ndi SW67 wa ma manipulator a servo okhala ndi mikono iwiri ochokera ku Siweike ali ndi mphamvu yolemera ya 3KG ndi 8KG kapena 15KG, motsatana, ndipo amatha kukhala ndi manja a gawo limodzi kapena awiri malinga ndi kutalika kwa chomera. Ma manipulator awa amagwira ntchito bwino pochotsa zinthu, kuzisonkhanitsa, ndi kuzitembenuza.
Chotsukira cha mbali cha manja awiri cha servo cha axis zisanu
Mu makina opangira jekeseni wa stack mold omwe ali ndi zofunikira pa liwiro lalikulu, manipulator a servo okhala ndi mbali ziwiri ndi abwino kwambiri. Mwachitsanzo, manipulator a Siweike a SW8 a side-pickup awiri ndi manja asanu ndi awiri a servo omwe ali ndi mbali ziwiri amapangidwira ntchito zothamanga kwambiri monga ma infusion box jakisoni.
Chowongolera cha servo cha mkono umodzi chozungulira zisanu
Chowongolera cha servo cha mkono umodzi chozungulira ma axis asanu chimatha kusinthasintha ngodya ya chogwiriracho mwa kuwonjezera servo ya A/C-axis. Mtundu uwu wa loboti ndi woyenera kugwiritsa ntchito monga kuchotsa zinthu zooneka ngati zapadera, kulemba zilembo, kudula nozzle ndi kuyang'anira. Mwachitsanzo, loboti ya SW67 yokhala ndi mkono umodzi yozungulira ma axis asanu ingagwiritsidwe ntchito pochotsa zokha mabampala agalimoto ndi kulemba zilembo m'mabokosi atsopano.
Malo osankhidwira dongosolo
Kwa ogwiritsa ntchito omwe ali ndi zofunikira kwambiri pakugwiritsa ntchito ma axis asanu, akulimbikitsidwa kuti aziika patsogolo makina a servo ogwira ntchito bwino kwambiri. Mwachitsanzo, ma mota a Panasonic ndi makina a servo amalimbikitsidwa chifukwa cha kulondola kwawo komanso kukhazikika kwawo. Kuphatikiza apo, popeza kuyika ma servo axes kudzawonjezera katundu wowonjezera, kusankha ma mota a mkono wa robot kuyenera kusiya malo okwanira.

Mapeto
Kukhazikitsa kwa magawo okhudzana ndi mzere wa loboti yopangira jekeseni ya ma axis asanu ndiye chinsinsi chowonetsetsa kuti zida ndi mtundu wa zopangira zikugwira ntchito bwino. Mwa kukhazikitsa magawo oyenera a mzere uliwonse, ogula ogulitsa padziko lonse lapansi amatha kugwiritsa ntchito bwino ubwino wa loboti yopangira jekeseni ya ma axis asanu, kukonza bwino ntchito, kuchepetsa ndalama zogwirira ntchito, ndikukweza mtundu wa malonda.