Mphamvu yonyamula katundu, manipulator ya servo ya axis itatu ili ndi ubwino pakugwiritsa ntchito zinthu zolemera

Kulemera Kwambiri: Ubwino wa Maloboti Ogwira Ntchito ndi Servo Atatu-Axis Pogwira Ntchito Zolemera

Mu kupanga, kukonza zinthu ndi malo osungiramo katundu, zida zamagalimoto, ndi zina, kusamalira zinthu zolemera kumakhalabe gawo lofunika kwambiri pakupanga, vuto lopitirira muyeso komanso chiopsezo cha chitetezo. Kuyambira zoopsa zazikulu komanso kusagwira bwino ntchito kwachikhalidwe kwamanja mpaka kulephera kwa katundu ndi zolakwika zoyambirira. Dzanja la Robotics, makampaniwa akupitilizabe kufuna njira zokhazikika, zogwira mtima, komanso zotetezeka zogwiritsira ntchito zinthu zolemera.Maloboti a servo a axis atatu, chifukwa cha ntchito yawo yabwino kwambiri yonyamula katundu, akukhala chida chofunikira kwambiri chothana ndi vutoli, ndikusintha miyezo ndi magwiridwe antchito a zinthu zolemera.

I. Mavuto Okhudza Kugwira Ntchito ndi Zinthu Zolemera: N’chifukwa Chiyani “Kulemera Kwambiri” Ndi Chinthu Chofunika Kwambiri?

Tisanafufuze ubwino wa maloboti a servo okhala ndi ma axis atatu, choyamba tiyenera kukambirana za ululu womwe umapezeka kwambiri pakugwiritsa ntchito zinthu zolemera masiku ano—ululu womwe umasonyeza kufunika kosasinthika kwa mphamvu yonyamula katundu wambiri:

"Vuto lalikulu" la kugwiritsa ntchito pamanja: Pa zipangizo zolemera kuposa 50 kg (monga chassis yamagalimoto, nkhungu zazikulu, ndi zitsulo), kugwiritsa ntchito pamanja sikuti kumangofuna mgwirizano pakati pa anthu angapo komanso kumakhala kovuta kupsinjika, zomwe zimapangitsa kuti pakhale ngozi zochepa komanso chitetezo monga kupsinjika minofu ndi kugwa kwa zipangizo. Malinga ndi "Manufacturing Safety Accident Statistics Report," ngozi zokhudzana ndi kugwiritsa ntchito zinthu zolemera zimayimira 32% ya ngozi zonse za kuntchito, 80% mwa izo zimagwirizana ndi kulakwitsa pamanja kapena kutopa.

Zofooka pakugwira ntchito kwa Zipangizo Zachikhalidwe Zamakina: Ngakhale kuti zida zoyambirira za robotic zoyendetsedwa ndi mpweya kapena zida zogwirira ntchito za single-axis zinkatha kugwira ntchito zina zolemera, zinali ndi mavuto awiri akuluakulu: malire ochepa a katundu wapamwamba (makamaka osakwana 100kg), zomwe zimapangitsa kuti zisagwiritsidwe ntchito kwambiri m'mafakitale; komanso kulondola koyikira bwino malo (nthawi zambiri kupitirira ±5mm), zomwe zingayambitse kutayika kwa zinthu kapena kulephera kwa msonkhano panthawi yokonza molondola (monga kuyika zida zamagalimoto padoko).

Mkangano womwe ukukulirakulira pakati pa kuchita bwino kwa kupanga ndi mtengo: Pamene makampani opanga zinthu akusintha kupita ku kupanga zinthu zosinthasintha, makampani akufuna kusinthasintha kwakukulu komanso kupitiriza kugwiritsa ntchito zinthu zolemera. Zipangizo zachikhalidwe nthawi zambiri zimafuna njira zokhazikika kapena kukhazikitsa ndi kuyambitsa zinthu zovuta, zomwe zimapangitsa kuti mizere yosinthira ikhale yotenga nthawi komanso yogwira ntchito yambiri. Kusakwanira kwa katundu kumachepetsa mwachindunji kuchuluka kwa zinthu zomwe zimagwiritsidwa ntchito pa shift iliyonse, zomwe zimawonjezera chiopsezo cha kusokonekera kwa mizere yopangira. 2. Ubwino Waukulu wa Maloboti a Servo Atatu-Axis: Kuchokera ku "Kutha Kunyamula" kupita ku "Kugwira Ntchito Konse"

Chisankho chabwino kwambiri cha loboti ya servo ya axis itatu yogwiritsira ntchito zinthu zolemera chili ndi mphamvu yake yonyamula katundu, kuphatikiza ubwino wake wolondola kwambiri, kukhazikika kwambiri, komanso kusinthasintha kwakukulu. Izi zimapangitsa kuti ntchito yonse ikhale yabwino: katundu wokwera pa kukweza, malo olondola kwambiri, komanso kugwira ntchito kwanthawi yayitali kokhazikika.

1. Kulemera Kwambiri: Kudutsa Malire a Kulemera Kuti Mukwaniritse Zosowa za Ntchito Zolemera

Ma servo robot okhala ndi ma axis atatu amapereka mphamvu zonyamula katundu kuyambira 50kg mpaka 500kg, ndipo mitundu ina yosinthidwa mwamakonda imapitirira 1000kg. Amatha kuphimba zochitika zambiri zogwirira ntchito zolemera zamafakitale, monga kuyendetsa injini m'makampani opanga magalimoto, kuyika zigawo zazikulu m'makina omanga, ndi kutumiza ma pallet olemera m'makampani opanga zinthu. Kuchita bwino kwake konyamula katundu kumathandizidwa makamaka ndi ukadaulo waukulu awiri:

Mota ya servo yokhala ndi mphamvu zambiri: Pogwiritsa ntchito ma servo motors ochokera kunja, makinawa amapereka mphamvu yokhazikika ndipo amalola kuti ntchito ipitirire ngakhale itadzaza mokwanira, kupewa nthawi yopuma kapena kutsika kwa liwiro chifukwa cha mphamvu zosakwanira.

Kapangidwe ka makina kolimbikitsidwa: Dzanja ndi malo olumikizirana amapangidwa ndi zinthu zolimba kwambiri (monga chitsulo chozimitsidwa ndi chotenthetsera cha 45# ndi aluminiyamu yopangidwa ndi die-cast), pamodzi ndi mabearing olondola. Izi zimatsimikizira kulimba kwa kapangidwe ngakhale pansi pa katundu wolemera, kupewa kusintha komwe kungakhudze kulondola.

Mwachitsanzo, pa fakitale yopanga zida zamagalimoto, kuyambitsidwa kwa loboti ya servo ya axis zitatu yokhala ndi katundu wolemera makilogalamu 200 kunathandiza lobotiyo kugwira, kunyamula, ndi kuyika malo operekera ma transmission (olemera makilogalamu 180 iliyonse), zomwe kale zinkafuna antchito awiri kuti agwiritse ntchito crane. Kugwira bwino ntchito ndi dzanja limodzi kwawonjezeka ndi 300%, kuchotsa kufunikira kochitapo kanthu pamanja ndikuchepetsa zoopsa zachitetezo.

2. Kulondola kwa Malo: Kulinganiza Katundu ndi Kulondola, Kukwaniritsa Zofunikira za Msonkhano Wolondola

Mwachikhalidwe, "kulemera kwambiri" nthawi zambiri kumagwirizanitsidwa ndi "kulondola kochepa." Komabe, loboti ya servo ya axis itatu imakwaniritsa "kukhazikika kolondola kwambiri pansi pa katundu wolemera" kudzera mu kuphatikiza kwa njira yowongolera servo ndi njira yotumizira molondola:

Kuwongolera kwa Servo Closed-Loop: Pogwiritsa ntchito njira yowongolera ya PLC + servo drive closed-loop, loboti imapereka ndemanga nthawi yeniyeni pa malo ndi liwiro, ndikusinthira mphamvu yotulutsa yokha kutengera kusintha kwa katundu. Izi zimatsimikizira cholakwika cha malo mkati mwa ± 0.1mm mpaka ± 0.5mm pansi pa katundu wonse, kukwaniritsa zofunikira pakukonza molondola (monga, kuyika zinthu zolemera ndi zida, kulumikiza molondola kwa zigawo zingapo).

Precision Ball Screw/Timeing Belt Drive: Zigawo za Core drive zimagwiritsa ntchito zomangira mpira zolondola kwambiri kapena malamba othamangitsira nthawi, zomwe zimapangitsa kuti mphamvu ya transmission ikhale yoposa 95%. Izi zimachepetsa kusiyana kwa malo komwe kumachitika chifukwa cha backlash, kuonetsetsa kuti malo okhazikika amayikidwa nthawi zambiri, makamaka pantchito zobwerezabwereza. Pambuyo pogwiritsa ntchito robot ya servo ya axis itatu yokhala ndi katundu wolemera 300kg, kampani yomanga makina idachepetsa cholakwika chomangirira pakati pa silinda yayikulu ya hydraulic (iliyonse yolemera 280kg) ndi thupi la makina kuchokera pa ±2mm mpaka ±0.3mm, ndikuwonjezera chiwongola dzanja chomangirira kuchokera pa 85% mpaka 99.5%, ndikuchepetsa ndalama zokonzanso chifukwa cha zolakwika zomangira ndi ma yuan opitilira 500,000 pachaka.

3. Kukhazikika ndi Kudalirika: Kugwira ntchito mopanda kupsinjika, katundu wolemera kwa nthawi yayitali komanso kuchepetsa ndalama zokonzera

Kugwira ntchito ndi zinthu zolemera kumafuna kukhazikika kwa zida. Kulephera kugwira ntchito mokwanira sikungoyimitsa mizere yopangira zinthu zokha komanso kungayambitse kuwonongeka kwa zida kapena ngozi zachitetezo chifukwa cha kugwa kwa zipangizo. Roboti ya servo ya axis itatu imatsimikizira kuti ikugwira ntchito bwino kwa nthawi yayitali kudzera mu mapangidwe awa:

Chitetezo cha Kuchuluka kwa Mphamvu: Mphamvu yowonjezereka yomangidwa mkati, mphamvu yowonjezereka ya mphamvu, ndi chitetezo cha kutentha kwambiri. Pamene katundu wapitirira mtengo wokhazikitsidwa kapena kutentha kwa injini kuli kwakukulu kwambiri, chipangizocho chimazimitsa chokha ndikupereka alamu, kuteteza kuwonongeka kwa zigawo zazikulu.

Kapangidwe Kopanda Kukonza: Zigawo zofunika (monga servo motor, mabearing, ndi screw drive) zimatsekedwa kuti zisaipitse fumbi ndi mafuta. Dongosolo lopaka mafuta limapereka mafuta odziyimira pawokha, kuchepetsa kukonza ndi manja. Nthawi yapakati ya chipangizocho pakati pa kulephera (MTBF) imatha kufika maola opitilira 8,000, kupitirira maola 5,000 a manja achikhalidwe a robotic.

Mwachitsanzo, malo osungiramo katundu, adayambitsa loboti ya servo yolemera makilogalamu 500 yokhala ndi ma axis atatu yogwirira ntchito yonyamula ma pallet olemera (onse olemera makilogalamu 450) mkati ndi kunja kwa nyumba yosungiramo katundu. Imagwira ntchito mosalekeza kwa maola 12 patsiku ndipo imafuna kuwunika kamodzi kokha pamwezi. Ndalama zokonzera ndi zotsika ndi 40% poyerekeza ndi ma forklift achikhalidwe, ndipo malo osungiramo katundu sanasokonezedwepo ndi chimodzi chifukwa cha kulephera kwa zida.

4. Kusinthasintha: Kusintha mwachangu malinga ndi zochitika zosiyanasiyana ndikuyankha zosowa zosinthika zopangira.

Poyerekeza ndi zida zoyendetsera zinthu zolemera zachikhalidwe (monga ma cranes ndi manja a robotic omwe amayendetsedwa pansi), loboti ya servo ya axis zitatu imapereka ubwino waukulu wosinthasintha:

Kukhazikitsa Kosavuta: Palibe njira zovuta zapansi kapena mafelemu achitsulo pamwamba omwe amafunikira poyika; ikhoza kungokhazikika pansi kapena pabenchi yogwirira ntchito, ndikupanga malo ochepa oti muyikepo ndikusinthira ku mawonekedwe a workshop.

Kusintha kwa Pulogalamu Mwachangu: Njira yogwiritsira ntchito, magawo oyika, ndi malo olumikizirana zimatha kusinthidwa pogwiritsa ntchito touchscreen. Kusintha kwa pulogalamu pazinthu zosiyanasiyana zogwiritsira ntchito zinthu kumatenga mphindi 5-10 zokha, pomwe zida zachikhalidwe zimafuna maola kapena masiku okonza zolakwika.

Kugwirizana kwa malo ambiri: Kungaphatikizidwe ndi mizere yotumizira katundu, ma AGV, ndi zida zina kuti pakhale mgwirizano wa malo ambiri. Mwachitsanzo, zipangizo zolemera zimatha kutengedwa kuchokera pashelefu, kusunthidwa kupita ku zipangizo zokonzera zinthu, kenako kusunthidwa kupita ku siteshoni yowunikira pambuyo pokonza. Njirayi yokhayokha imachotsa kufunikira kotumiza katundu ndi manja.

III. Zochitika Zachizolowezi Zogwiritsira Ntchito Ma Robot Atatu-Axis Servo: Kuchokera ku "Kugwira Ntchito Kamodzi" mpaka "Kupatsa Mphamvu Zonse"

Mphamvu yamphamvu ya loboti ya servo yokhala ndi ma axis atatu komanso magwiridwe antchito ake onse zathandiza kuti isinthe kuchoka pa "chida chimodzi chogwiritsira ntchito" kupita ku "chipangizo chothandizira ntchito yonse" m'mafakitale osiyanasiyana. Izi ndi zochitika zitatu zomwe zimagwiritsidwa ntchito nthawi zambiri:

1. Kupanga Magalimoto ndi Zigawo: "Zofunika Ziwiri" za Katundu Wolemera ndi Wolondola

Makampani opanga magalimoto ndi gawo lofunika kwambiri pakugwira ntchito ndi zinthu zolemera. Kuyambira ziwalo za thupi zosindikizidwa (50-150kg iliyonse) mpaka mainjini ndi ma transmission (100-300kg iliyonse), zida zogwirira ntchito zonyamula katundu wambiri komanso zolondola kwambiri zimafunika. Maloboti a servo okhala ndi ma axis atatu amatha kukwaniritsa izi:

Malo Ogulitsira Zinthu Zopondera: Tengani mbale zolemera zachitsulo kuchokera pa raki, zisunthireni ku makina osindikizira zinthu, kenako zisunthireni ku njira ina mukamaliza kuzisindikiza, kuchotsa kusintha komwe kumachitika chifukwa chogwiritsa ntchito pamanja.

Malo Omaliza Osonkhanitsira Zinthu: Sungani mosamala zinthu zolemera monga mainjini ndi ma axle akumbuyo kupita kumalo awo ofanana pa thupi la galimoto, ndi zolakwika zoyikira mkati mwa ± 0.5mm kuti muwonetsetse kuti zosonkhanitsirazo ndi zolondola.

Malo Osungiramo Zinthu: Kukweza ndi kutsitsa zinthu zokha pa ma pallet olemera odzaza ndi zida zamagalimoto, kusintha ma forklift ndikuchepetsa ntchito zamanja.

Pambuyo poti fakitale yogwirizana idayambitsa maloboti 20 a servo okhala ndi ma axis atatu okhala ndi mphamvu yolemera ya 200-300kg, kugwiritsa ntchito bwino zinthu zolemera m'sitolo yomaliza yopangira zinthu kunawonjezeka ndi 40%, chiwopsezo cha chilema cha kupanga chinachepa ndi 60%, ndipo ndalama zosungidwa pachaka za antchito zinapitirira 3 miliyoni yuan.

2. Makina Omanga ndi Zipangizo Zolemera: "Ntchito Yokhazikika" Yodzaza Kwambiri

Makina omangira (monga ma arch ndi ma crane) nthawi zambiri amakhala ndi zida zolemera (monga, mabaketi ofukula amalemera 500-800kg iliyonse) komanso ma voliyumu akuluakulu. Kugwiritsa ntchito kwachikhalidwe kumadalira kuphatikiza kwa crane ndi malangizo amanja, zomwe sizigwira ntchito bwino ndipo zimakhala ndi zoopsa zazikulu zachitetezo. Maloboti a servo a axis atatu (osinthika ndi katundu wolemera wa 500-1000kg) amathandizira:

Kusamutsa zinthu zazikulu mkati mwa workshop popanda malangizo amanja, motero kupewa kugundana kwa zinthu;

Kulinganiza bwino magawo ndi matupi a makina, monga kusuntha mapampu olemera a hydraulic kupita kumabowo oikira pa matupi a makina ndi malo olondola a ±1mm, kuchepetsa mipata yopangira;

Kusamalira zida zomalizidwa popanda kugwiritsa ntchito intaneti, monga kusuntha ma arch ang'onoang'ono osonkhanitsidwa (olemera matani 3-5 ndipo amafuna maloboti angapo ogwirizana) kuchokera pamzere wopanga mpaka kusungirako.

3. Kayendetsedwe ka Zinthu ndi Kusungiramo Zinthu: "Kuyenda Bwino" kwa Mapaleti Olemera

Ndi chitukuko cha malonda apaintaneti ndi zinthu zopangira zinthu, kufunikira kwa ma pallet olemera (odzaza ndi zida zapakhomo, mipando, ndi zinthu zopangira mafakitale) kukuwonjezeka. Ma robot a servo a axis atatu angagwiritsidwe ntchito limodzi ndi nyumba zosungiramo zinthu zapamwamba komanso machitidwe a AGV kuti akwaniritse:

Kunyamula ndi kutsitsa mapaleti olemera m'nyumba zosungiramo zinthu zapamwamba, zokhala ndi mphamvu imodzi yogwiritsira ntchito mpaka 500 kg, kuwonjezeka kwa 50% poyerekeza ndi ma stacker cranes achikhalidwe;

Kusanja katundu wolemera m'malo odutsa malire, monga kusuntha ma pallet a 300-400 kg a zipangizo zopangira mafakitale kuchokera m'makontena kupita ku mzere wosanja, kusintha ntchito zamanja ndi ma forklift, ndikuwonjezera magwiridwe antchito ndi 200%;

Kuphatikizana kosasunthika pakati pa mizere yopangira ndi malo osungiramo zinthu, monga kulola kuti zinthu zolemera zomalizidwa kuchokera ku mzere wopangira zisunthidwe mwachindunji ndi loboti kupita ku mapaleti a AGV, omwe kenako amasamutsidwa kupita ku nyumba yosungiramo zinthu ndi AGV, kuchotsa kusamutsa kwapakati.

VI, Kodi Maloboti Ogwira Ntchito Zamtundu Wachitatu Angawonjezere Bwanji "Ubwino Wawo Wonyamula"?

Ndi kupita patsogolo kwa ukadaulo wamakina odzipangira okha m'mafakitale, kugwiritsa ntchito mawotchi opangira ma servo a axis atatu Kugwiritsa ntchito zinthu zolemera kudzawonjezeka kwambiri, ndipo mphamvu zawo zonyamula katundu zidzakwezedwanso kuti zikhale zanzeru, zogwirizana, komanso zobiriwira.

Kusintha kwanzeru kwa katundu: Mwa kuyambitsa masensa (monga masensa olemera ndi masensa owongolera mphamvu), kuzindikira ndi kusintha kwa katundu kumachitika. Chowongolera chimatha kuzindikira kulemera kwa zinthu nthawi yeniyeni ndikukonza mphamvu yotulutsa yokha komanso liwiro loyenda, kupewa kuwononga mphamvu komwe kumachitika chifukwa cha "liwiro lotsika la katundu wolemera komanso liwiro lalikulu la katundu wopepuka" pomwe chikuwonjezera kulondola kwa malo.

Mgwirizano ndi mgwirizano wa magulu ambiri: M'tsogolomu, machitidwe ogwirizana a "magulu atatu ndi magulu ambiri" adzawonekera. Mwachitsanzo, magulu atatu Servo Manipulator imatha kugwira ntchito zolemera kwambiri, pomwe mkono wa robotic wa axis six-axis ukhoza kugwira ntchito yolinganiza bwino, ndikupanga njira yolumikizirana ya "kusamalira katundu wolemera + ntchito zovuta."

Kapangidwe kobiriwira komanso kosunga mphamvu: Ngakhale kuti mphamvu zimawonjezeka, kugwiritsa ntchito mphamvu kumachepetsedwa kudzera mu kuyendetsa bwino kwa injini, ma servo drive osunga mphamvu, komanso kubwezeretsa mphamvu ya mabuleki. Mwachitsanzo, mtundu wina wa manipulator a servo ozungulira atatu okhala ndi mphamvu yolemera ya 300kg amagwiritsa ntchito mphamvu zochepa ndi 25% kuposa zida zachikhalidwe, zomwe zimasunga ndalama zoposa 10,000 yuan pachaka.

Kutsiliza: Kupambana ndi "Kulemera Kwambiri" ndi Kulimbitsa ndi "Kugwira Ntchito Mwanzeru Kwambiri"

Vuto lalikulu pakugwiritsa ntchito zinthu zolemera ndiloti zinthuzo sizikugwirizana ndi zofunikira pa katundu ndi zida zomwe zilipo kale. Ma servo manipulators a three-axis, omwe cholinga chawo chachikulu ndi "mphamvu ya katundu," amaphatikiza kulondola kwambiri, kukhazikika kwambiri, komanso kusinthasintha kwakukulu. Sikuti amangothetsa "vuto la kulemera" la kugwiritsa ntchito zinthu zolemera komanso amawonjezera magwiridwe antchito opanga ndikuchepetsa zoopsa zachitetezo kudzera mu automation yonse, zomwe zimapangitsa kuti zikhale zida zofunika kwambiri pakusintha kwa makampani opanga zinthu kukhala "mafakitale anzeru."