Kugwiritsa ntchito mwachindunji kwa manipulator a servo atatu-axis pakusankha mankhwala ndi kulongedza

Kugwiritsa Ntchito Ma Robot Atatu Ozungulira Servo Pokonza ndi Kupaka Mankhwala

Maloboti Ogwira Ntchito Zamagetsi Atatu: Kusintha Kusintha kwa Mphamvu mu Kusanja ndi Kupaka Mankhwala

Chifukwa cha miyezo yokhwima ya makampani opanga mankhwala komanso kufunika kopanga bwino, zida zodzipangira zokha zakhala chinthu chofunikira kwambiri pakukweza ndi kusintha kwa makampani opanga mankhwala. Maloboti a servo a axis atatu, ndi ubwino wawo waukulu wa kuwongolera molondola, kugwira ntchito mokhazikika, komanso kusinthasintha kosinthasintha, asintha udindo wawo pakusankha ndi kulongedza mankhwala kuchokera ku "zida zothandizira" kupita ku "mayunitsi opanga mankhwala." Nkhaniyi ifufuza momwe amagwiritsidwira ntchito, phindu laukadaulo, ndi malingaliro othandiza pantchitoyi, ndikupereka chidziwitso cha kukweza makina amakampani opanga mankhwala.

I. Zofunikira pa Makampani Opanga Mankhwala: Nchifukwa Chiyani Muyenera Kusankha Maloboti Ogwiritsa Ntchito Servo Okhala ndi Magawo Atatu?

Makhalidwe apadera a kupanga mankhwala amalamulira zofunikira kwambiri pa zida zodziyimira pawokha: miyezo yoyera yovomerezeka ndi GMP, kulondola kosankha kwa milligram, kugwira ntchito kokhazikika kwa maola 24, komanso kusintha mwachangu pakati pa zinthu zosiyanasiyana. Kusankha ndi kulongedza mwaluso sikuti kumangoyang'anizana ndi zopinga zogwira ntchito (kuchuluka kwa tsiku ndi tsiku kwa kusanja kwa munthu aliyense ndi zidutswa 3,000-5,000 zokha), komanso kumabweretsa zoopsa monga kusakaniza mankhwala ndi kuchotsera kolakwika komwe kumachitika chifukwa cha zolakwa za anthu. Komabe, zida zoyendetsera mpweya zachikhalidwe zimalepheretsedwa ndi kusakwanira kulamulira bwino komanso mayendedwe osasunthika, zomwe zimapangitsa kuti zisagwiritsidwe ntchito m'mankhwala.

Kuwonekera kwa ma axis atatu Servo Manipulators imathetsa vutoli. Makina awo oyendetsera X, Y, ndi Z-axis oyendetsedwa ndi servo-motor amakwaniritsa kulondola kwa malo ogwirira ntchito kwa 0.1mm. Kuphatikiza ndi njira zoyendetsera zomwe zingakonzedwe komanso kukakamiza mayendedwe, amakwaniritsa zofunikira zogwirira ntchito zopanda fumbi m'zipinda zoyera pomwe akusintha moyenera ku zosowa zogwirira ntchito zamitundu yosiyanasiyana ya mlingo (mapiritsi, makapisozi, zakumwa zoledzeretsa, ndi zina zotero), zomwe zimapangitsa kuti akhale chisankho chabwino kwambiri chokonzera ndi kulongedza mankhwala okha.

II. Kugwiritsa Ntchito Kwambiri Chitsanzo 1: Kuwongolera Molondola kwa Kusankha Mankhwala

Kusankha ndi mfundo yofunika kwambiri popanga mankhwala, yomwe imafuna njira yonse yotsekedwa ya "kuzindikira - kugwira - kugawa - kusamutsa." Kugwiritsa ntchito ma robot a servo a axis atatu mu njirayi kungagawidwe m'magawo atatu akuluakulu:

(I) Kusankha Molondola Mafomu Osiyanasiyana
Pa mankhwala amitundu yosiyanasiyana, monga mapiritsi, makapisozi, ndi ma softgel, ma servo robot a three-axis amatha kusandutsa bwino mwa kuwapatsa zida zosinthira zomwe zakonzedwa mwamakonda. Mwachitsanzo, pakusandutsa mapiritsi, chitoliro chotsukira cha vacuum chimagwiritsidwa ntchito. Dongosolo la servo limawongolera bwino kuthamanga kwa chikho chotsukira (0.02-0.05 MPa), kuonetsetsa kuti mapiritsi okhala ndi mainchesi kuyambira 3-15 mm akugwira bwino ntchito, pomwe amapewa kusweka chifukwa cha kupanikizika kwambiri. Pa makapisozi, chitoliro chosinthika chimagwiritsidwa ntchito m'malo mwake, pogwiritsa ntchito mphamvu yolamulira ya injini ya servo kuti ikhale ndi mphamvu yogwira ya 5-10 N, kupewa kusinthika ndi kutuluka kwa madzi.

Ponena za luso losankhira bwino, loboti ya servo ya axis zitatu imapereka mwayi waukulu. Mwachitsanzo, pogwiritsa ntchito mizere yosankhira mapiritsi ya makampani ang'onoang'ono ndi apakatikati opanga mankhwala, mizere yosankhika yachikhalidwe yamanja imatha kukonza mapiritsi pafupifupi 8,000-10,000 pa ola limodzi. Komabe, mizere yosankhira yokha yokhala ndi maloboti a servo a axis atatu, kudzera mu kulumikizana kwachangu pakati pa ma axes a X ndi Y (liwiro lalikulu logwira ntchito la 1.5 m/s), imatha kuwonjezera mphamvu imeneyi kufika pa mapiritsi 30,000-40,000 pa ola limodzi. Chiwopsezo cha kusankhira chimasungidwa pansi pa 0.01%, chotsika kwambiri kuposa muyezo wa zolakwika wa 0.5% pakusankhira pamanja.

(II) Kusankha Magulu a Mankhwala Omwe Amagwiritsidwa Ntchito Pagulu
Malamulo a mankhwala amafuna kuti gulu lililonse la mankhwala lizigawidwa payekhapayekha ndikutsatiridwa molondola, zomwe zimapangitsa kuti pakhale kufunika kwakukulu pa luso lozindikira gulu la njira yosankhidwira. Roboti ya servo ya axis itatu, yolumikizidwa ndi njira yozindikira masomphenya, imasintha njira ya "kuzindikira manambala a gulu - kusanja molondola - kusamutsa kolunjika." Dongosolo la masomphenya choyamba limatenga zambiri za manambala a gulu (barcode kapena QR code) pa phukusi la mankhwala. Pogwiritsa ntchito algorithm, imatanthauzira mwachangu deta ya manambala a gulu ndikuitumiza kwa Kampani ya Robotdongosolo lolamulira. Kutengera malamulo okhazikitsidwa kale a magulu a manambala a batch, dongosololi limalumikiza ma axes a X, Y, ndi Z kuti asamutse mankhwala kuchokera m'magulu osiyanasiyana kupita ku mabini awo ofanana. Njira yonseyi imatenga masekondi osakwana 0.5, ndikuchotsa kwathunthu chiopsezo cha kusakanikirana kwa batch.

Kugwiritsa ntchito mankhwalawa pa malo ochitira mankhwala operekedwa ndi kampani yayikulu ya mankhwala kwawonetsa kuti kuchuluka kwa mankhwala osankhidwa ndi manja kwachepetsedwa kuchoka pa 15% kufika pa 0.3%, mphamvu yopezera mankhwala yawonjezeka kanayi, ndipo mankhwalawa apambana bwino mayeso osalengezedwa ndi akuluakulu oyang'anira mankhwala.

(III) Kukana Zogulitsa Zolakwika Mwachangu
Pakupanga mankhwala, zinthu zochepa zomwe zili ndi vuto (monga mapiritsi olakwika ndi makapisozi otuluka) zimapangidwa chifukwa cha zinthu monga zolakwika za zinthu zopangira ndi kusintha kwa njira. Kukana kwachikhalidwe pamanja sikungokhala kopanda ntchito kokha komanso kumakhala kosavuta kuyesedwa. Roboti ya servo yokhala ndi ma axis atatu, kuphatikiza ndi kuyang'ana ndi kuwona ndi machitidwe ozindikira kulemera, imalola kukana molondola zinthu zomwe zili ndi vuto. Dongosolo lowonera limazindikira zolakwika zokongoletsa m'mafakitale, pomwe sensa yolemetsa imazindikira kupotoka kwa kulemera (ndi kulondola kwa ±0.01g). Chinthu cholemetsa chikapezeka, dongosololi nthawi yomweyo limatumiza chizindikiro ku loboti, yomwe imasintha mwachangu njira yake, imagwira chinthucho, ndikuchisamutsira ku chidebe cha zinyalala. Nthawi yoyankha yokana ndi masekondi 0.3 okha, ndi kulondola kwa kukana kwa 99.99%.

III. Kugwiritsa Ntchito Kofunikira Chitsanzo Chachiwiri: Kugwirizana Moyenera Pakuyika Mankhwala

Kupaka ndi gawo lomaliza pakupanga mankhwala, lomwe limafuna njira zingapo, kuphatikizapo kuika makatoni, kutseka, kulemba zilembo, ndi kuyika ma pallet. Roboti ya servo ya axis itatu, kudzera mu kuphatikizana kwakukulu ndi mzere wopanga ma paketi, imapeza mgwirizano wabwino panjira zonsezi.

(I) Kuphatikiza Kokha kwa Makatoni ndi Kutseka kwa Mankhwala

Mu ndondomeko yoika makatoni a mapiritsi ndi makapisozi, loboti ya servo ya axis zitatu imagwira ntchito zazikulu za "kuwongola" ndi "kuyika." Potengera chitsanzo cha kuyika makapisozi, lobotiyo imagwiritsa ntchito kayendedwe ka X- ndi Y-axis kogwirizana kuti ikonze bwino mapaketi a makapisozi (makapisozi 12-24 pa paketi iliyonse) omwe amaperekedwa kuchokera ku conveyor. Kenako Z-axis imatsitsa chogwirira kumapeto kuti iike mapaketi a makapisozi molondola m'mabokosi oikamo. Ntchito yonseyi imatenga masekondi 0.8 okha pa bokosi lililonse. Panthawi yoika mabokosi, lobotiyo imagwirizana ndi choika makatoni kuti ipinde chivindikirocho ndikugwiritsa ntchito guluu. Dongosolo la servo limawongolera mphamvu yokakamiza (20-30N) kuti zitsimikizire kuti ma seal a mabokosi akukwaniritsa miyezo yoyendera ndikuletsa kuwonongeka ndi kuipitsidwa kwa mankhwala.

Pambuyo pokonza makina awo opakira makapisozi, kampani ina ya mankhwala inagwiritsa ntchito maloboti awiri a servo okhala ndi ma axis atatu omwe amagwira ntchito limodzi. Izi zinawonjezera mphamvu yonyamula ndi kutseka mabokosi kuchoka pa mabokosi 120 pa mphindi imodzi kufika pa mabokosi 200 pa mphindi imodzi, ndipo kuchuluka kwa kulandiridwa kwa ma paketi kunakwera kuchoka pa 98.5% kufika pa 99.8%.

(II) Kuyika Ma Labels a Mankhwala Molondola

Zolemba za mankhwala zimakhala ndi mfundo zofunika monga dzina la mankhwala, mphamvu yake, nambala yake, ndi tsiku lotha ntchito. Kupatuka kulikonse pakuyika chizindikiro sikumangokhudza kukongola kwake komanso kungaphwanye malamulo a mankhwala. Roboti ya servo yokhala ndi ma axis atatu imakwaniritsa kulondola kwa mulingo wa millimeter pakulemba zilembo kudzera mu kuphatikiza kwa "kuyika masomphenya + servo drive": Dongosolo lowonera limazindikira kaye malo ofotokozera a bokosilo (monga ngodya ndi zizindikiro zosindikizidwa), limawerengera ma coordinates olembera, ndikuzitumiza ku robot. Kenako robot imasuntha molondola mutu wolembera motsatira ma axes a X ndi Y kupita kumalo omwe mukufuna. Z axis imayang'anira kuthamanga kwa zilembo (0.1-0.2 MPa) kuti zitsimikizire kuti chizindikirocho chikugwiritsidwa ntchito bwino, popanda makwinya, ndi kupotoka kwa malo mkati mwa ±0.5 mm.

Pa ma CD osakhazikika monga mabotolo ozungulira a mankhwala, lobotiyo ingagwiritsenso ntchito mzere wozungulira (mzere wachinayi wosankha) kuti ikwaniritse zilembo za 360°. Dongosolo la servo limalumikiza kuwongolera liwiro kuti litsimikizire liwiro lozungulira pakati pa mutu wolembera ndi botolo, ndikuwonetsetsa kuti kulumikizana kuli kosasunthika pamalo olumikizira zilembo.

(III) Kusunga ndi Kusunga Zinthu Zomalizidwa Mwanzeru

Pambuyo pokonza mankhwala, amafunika kusungidwa mwachangu kuti achepetse malo pansi. Roboti ya servo yokhala ndi ma axis atatu imatha kuwerengera njira yoyenera yopangira ma pallet kutengera kukula, kulemera, ndi zofunikira zosungira mabokosi opaka. Pa mabokosi opepuka opaka pakamwa (bokosi lililonse lolemera osakwana 500g), chogwirira champhamvu cha zikhadabo chimagwiritsidwa ntchito kugwira ndi kuyika mabokosi 4-6 nthawi imodzi. Pa mabokosi olemera a mabotolo opaka (bokosi lililonse lolemera 10-15kg), chogwirira chamagetsi chimagwiritsidwa ntchito, pogwiritsa ntchito mphamvu yayikulu ya injini ya servo kuti chigwire bwino.

Ponena za kulondola kwa ma pallet, loboti imagwiritsa ntchito njira yowongolera kutalika kwa ma pallet pa Z axis kuti iwonetsetse kuti kusiyana kwa ma stacking a bokosi lililonse sikupitirira 1mm. Kutalika kwa ma pallet kumatha kufika 1.8-2.5m, ndipo loboti imatha kusintha mawonekedwe a pallet yokha (monga sikweya kapena amakona anayi) kutengera kukula kwa mashelufu osungiramo zinthu. Pambuyo poyika ntchito pamalo osungiramo mankhwala, mphamvu ya ma pallet yomalizidwa idakwera kuchoka pa mabokosi 80 pa ola (ogwiritsidwa ntchito ndi manja) kufika pa mabokosi 300 pa ola, zomwe zimapangitsa kuti malo osungiramo zinthu azigwiritsidwa ntchito bwino ndi 30%.

IV. Ubwino Waukulu Waukadaulo ndi Kusankha Mfundo Zofunika Kwambiri za Roboti ya Servo ya Axis Zitatu

(I) Ubwino Waukulu Utatu Woyenera Kugwiritsa Ntchito Mankhwala

Kapangidwe ka Chipinda Chotsukira: Pogwiritsa ntchito thupi lopanda chitsulo chosapanga dzimbiri komanso mafuta odzola oyeretsera chakudya, pamwamba pake popukutidwa bwino pamatha kupirira njira zophera tizilombo monga mowa ndi kuwala kwa UV, kukwaniritsa zofunikira za chipinda chotsukira cha GMP Class 8 komanso kupewa kuipitsidwa kwa mankhwala.

Dongosolo la Servo Lolondola Komanso Lolamulirika: Pogwiritsa ntchito ma servo motors ndi ma driver ochokera kunja, limathandizira malo, liwiro, ndi njira zowongolera mphamvu. Kusintha kosinthasintha kumalola kuti zinthu zofewa zigwire bwino ntchito komanso kuti zinthu zolemera zizigwira bwino ntchito.

Kuphatikiza Kosinthasintha: Pothandizira njira zambiri zolumikizirana zamafakitale monga Modbus ndi Profinet, imagwirizana bwino ndi machitidwe owonera, makina oyezera, makina opakira, ndi zida zina, zomwe zimathandiza kuti mzere wopangira ukhale wokhazikika. Mapulogalamu okonza mapulogalamu amalola kusintha mwachangu magawo oyendera, zomwe zimathandiza kusintha mizere yopangira kuti ikhale ndi zofunikira zambiri zamankhwala (nthawi yosinthira siipitirira mphindi 10).

(II) Mfundo Zofunika Kwambiri Zoganizira Makampani Opanga Mankhwala Pakusankha Zogulitsa

Kufananiza Katundu ndi Ulendo: Sankhani kuchuluka kwa katundu kutengera kulemera kwa mankhwala omwe akusankhidwa/kupakidwa (nthawi zambiri 1-50 kg). Sankhani mzere wa magawo atatu mtunda woyenda (500-3000 mm pa X-axis, 300-2000 mm pa Y-axis, ndi 200-1000 mm pa Z-axis) kutengera kapangidwe ka malo ogwirira ntchito kuti zitsimikizire kuti zosowa zopangira zakwaniritsidwa.

Zofunikira pa Ukhondo: Ma workshop opanga mitundu yosiyanasiyana ya mlingo, monga mankhwala opangidwa pakamwa ndi jakisoni, amafuna ukhondo wosiyana, zomwe zimafuna loboti yokhala ndi ukhondo woyenerera (monga, Kalasi 7 ndi yoyenera ma workshop opangidwa ndi jakisoni).

Mphamvu Zogwirira Ntchito Pambuyo Pogulitsa: Kupanga mankhwala sikungasokonezedwe, choncho sankhani wopanga yemwe amapereka chithandizo cha maola 24 komanso zida zosinthira mwachangu kuti atsimikizire kukonza nthawi yake ngati zida zalephera komanso kuchepetsa kutayika kwa nthawi yogwira ntchito.

V. Mapeto: Kukweza Makina Odziyimira Pawokha Ndi Chisankho Chosapeŵeka

Pansi pa kukula kwa makampani opanga mankhwala pankhani yokweza khalidwe, kukulitsa magwiridwe antchito, komanso kutsatira malamulo ndi kutsata, maloboti a servo okhala ndi magawo atatu salinso zida zopangira chabe; ndi omwe ali ndi mphamvu yayikulu yoyendetsera bwino pakukonza molondola, kuchita bwino, komanso luntha pakukonza ndi kulongedza mankhwala. Kuyambira pakukonza mankhwala osiyanasiyana mpaka kumaliza kupanga zinthu, kuyambira pakutsata manambala a batch mpaka kukana zinthu zolakwika, kusinthasintha kwawo kwathunthu komanso zabwino zaukadaulo zikuthandiza makampani ambiri opanga mankhwala kuthana ndi zovuta zopanga, kuchepetsa zoopsa zamtundu, ndikuwonjezera mpikisano pamsika.