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Isicelo Of Industrial Robot Machining Iyalayisha Futhi athula

2021-08-21

Isicelo Of Industrial Robot Machining Iyalayisha Futhi athula


Lo mbhalo uqala ukwethula ukwakheka, ukubaluleka kokusebenza kanye nezici zokulayishwa nokulayishwa kwezicelo zamarobhothi ezimbonini, kanye nokuhlaziywa okuningiliziwe kokuqina nokunemba kwamarobhothi ezimboni kumashini wamarobhothi asezimbonini ukulayishwa nokulayishwa kwezicelo, kanye nezinkinga zokululama ngokushesha ngemuva kokushayisana ukwehluleka. Inkinga ihlaziywa kabanzi futhi amasu wokuxazulula ukhiye ayahlaziywa. Okungukuthi, ubuchwepheshe bokuhlonza othomathikhi bokugcina kanye nobuchwepheshe obunamandla be-torque feedforward, ubuchwepheshe bokuthola ukushayisana, ubuchwepheshe bokuthola iphuzu, futhi ekugcineni kuphakanyiswa ukuthambekela kokuthuthuka kwesikhathi esizayo kokubambisana komshini womuntu kanye nokuhlanganiswa kolwazi.


Isicelo Of Industrial Robot Machining Iyalayisha Futhi athula
Isicelo Of Industrial Robot Machining Iyalayisha Futhi athula. -PTJ I-CNC MACHINING Shop

Ngokuthandwa kwamathuluzi womshini we-CNC, abasebenzisi abaningi ngokwengeziwe banethemba lokuthi ukulayishwa nokwehliswa kwamathuluzi womshini we-CNC kuzozenzekelayo. Ngakolunye uhlangothi, kuzokwandisa inani labasebenzi ukuthi banakekele amathuluzi emishini, kunciphise izindleko zabasebenzi, futhi kuthuthukise ukusebenza kahle kwekhwalithi nekhwalithi ngakolunye uhlangothi. Ukusetshenziswa okukhulu kwamarobhothi ezimboni kwavela embonini yezimoto. Ngokugcwala kwezicelo zomkhakha wezimoto, imboni ejwayelekile isiyawazi amarobhothi. Kusukela ngeminyaka yama-1990, amarobhothi asezimbonini emikhakheni ejwayelekile asetshenziswe kakhulu, njengokushisela, ukufaka amapali, ukufafaza, ukulayisha nokuthulula, ukupholisha nokugaya ukusetshenziswa okujwayelekile ezimbonini ezijwayelekile. Le ndatshana igxile ekulayisheni nasekulayisheni imishini yamarobhothi ezimboni.

Isistimu yamarobhothi yokulayishwa nokulayishwa kwempahla ezimbonini isetshenziselwa ukulayishwa kwamayunithi wokucubungula kanye nolayini bokukhiqiza okuzenzakalelayo okuzocutshungulwa izikhala, ukulayishwa kokusebenza okusetshenzwe, ukudluliswa kobuciko phakathi kwamathuluzi omshini namathuluzi omshini, kanye nenzuzo yezindawo zokusebenza ukuphenduka, ukugaya nokugaya. Ukucubungula okuzenzakalelayo kwamathuluzi womshini wensimbi wokusika njengokugoba nokumba.

Ukuhlanganiswa okusondele kwamarobhothi namathuluzi emishini akwenzi ngcono kuphela izinga lokukhiqizwa okuzenzakalelayo, kodwa futhi kuthuthukise ukusebenza kahle kokukhiqiza nokuncintisana kwemboni. Ukucubungula ngomshini ukulayishwa nokulayishwa kudinga ukusebenza okuphindaphindwayo nokuqhubekayo, futhi kudinga ukungaguquguquki nokunemba kokusebenza, ngenkathi inqubo yokucubungula izingxenye ezimbonini ezijwayelekile idinga ukucubungulwa ngokuqhubekayo ngamathuluzi amaningi omshini nezinqubo eziningi. Ngokwanda kwezindleko zabasebenzi kanye nengcindezi yokuncintisana elethwe ukwanda kokusebenza kahle kokukhiqiza, izinga lokuzenzakalela kokusebenza kwamakhono namandla wokukhiqiza aguquguqukayo abe yizithiyo ekuthuthukiseni ukuncintisana kwefektri. Irobhothi lithatha indawo yemisebenzi yokulayisha nokulayishwa okwenziwa mathupha, futhi liqaphela uhlelo olusebenzayo lokulayisha nokulayisha ngokuzenzakalelayo ngemigqomo yokuphakela okuzenzakalelayo, amabhande okuhambisa, njll., Njengoba kukhonjisiwe kuMdwebo 1.

Irobhothi elilodwa lingahambisana nokulayishwa nokulayishwa kokusebenza kwethuluzi elilodwa noma amaningi womshini ngokuya ngezidingo zobuchwepheshe bokucubungula. Ohlelweni lokulayisha nokulayishwa kwe-robot okuya kokuningi, irobhothi liqeda ukukha nokubeka izikhala nezingxenye ezicutshungulwayo kumathuluzi emishini ehlukene, okuthuthukisa ukusebenza kahle kwerobhothi. Irobhothi lingenza imisebenzi yokuphindisela kulayini oqondile womugqa wethuluzi lomshini ngokusebenzisa ujantshi ofakwe phansi, okunciphisa ukusebenza kwesikhala sefektri, futhi kungaguquguquka ngokuguqukayo kuzinqubo zokusebenza ezahlukahlukene zamaqoqo ahlukahlukene emikhiqizo. Irobhothi eliguqukayo lingaqhubeka lisebenze ezindaweni ezinzima. , Ukusebenza kwamahora angama-24, ukukhulula ngokugcwele umthamo wokukhiqizwa kwefektri, ukunciphisa isikhathi sokulethwa, nokwenza ngcono ukuncintisana kwezimakethe.

1 Izici zezimboni zamarobhothi ezisetshenziselwa ukulayishwa nokulayishwa kwezicelo

  • (1) Ukubeka okuphezulu, ukucubungula okusheshayo nokuqinisa, ukunciphisa umjikelezo wokusebenza, nokwenza ngcono ukusebenza kahle kwethuluzi lomshini.
  • (2) Ukusebenza kweRobot kuzinzile futhi kunokwethenjelwa, kunciphisa ngempumelelo imikhiqizo engafanelekile nokwenza ngcono ikhwalithi yomkhiqizo.
  • (3) Ukusebenza okuqhubekayo ngaphandle kokukhathala, ukunciphisa isilinganiso sokungenzi lutho kwamathuluzi omshini, nokwandisa umthamo wokukhiqiza wefektri.
  • (4) Izinga eliphakeme le-automation lithuthukisa ukunemba kokukhiqizwa komkhiqizo owodwa futhi lisheshisa ukusebenza kahle kokukhiqizwa ngobuningi.
  • (5) Izimo eziguquguqukayo, ezisheshayo nezimo ukuzivumelanisa nemisebenzi emisha nemikhiqizo emisha, futhi unciphise isikhathi sokulethwa.

2 Izinkinga ekusetshenzisweni kwemishini yamarobhothi yezimboni nokulayisha nokulayishwa

2.1 Izinkinga zokuqina nokunemba

I-machining irobhothi yehlukile ekuphatheni okujwayelekile nokubamba amarobhothi. Kungumsebenzi oxhumana ngqo namathuluzi wokucubungula. Isimiso sayo sokunyakaza kufanele sicabangele ukuqina nokunemba. Irobhothi le-tandem linokunemba okuphezulu kokuma kokuphindaphindwayo, kepha ngenxa yezici eziphelele zokucubungula, ukuhlangana, ukuqina, njll. insimu yemishini. Ngakho-ke, ukuqina kwerobhothi nokunemba kwe-trajectory yamarobhothi yizinkinga ezinkulu ezibhekene nerobhothi lokuchofoza.

2.2 Inkinga yokushayisana

Amarobhothi amaningi asebenza ngokubambisana nokujika, ukugaya, ukuhlela nokugaya amathuluzi omshini. Lapho irobhothi lenza imishini, kufanele kunakwe kakhulu inkinga yokuphazamiseka nokungqubuzana phakathi kwendawo efile nendawo yokusebenza. Lapho ukushayisana kwenzeka, ithuluzi lomshini nerobhothi kudinga ukulinganiswa kabusha, okwandisa kakhulu isikhathi sokuthola amaphutha, okuholela ekulahlekelweni kokukhiphayo, futhi ezimweni ezinzima, nakho kungadala ukulimala kwemishini. Umbono ngaphambi noma ngemuva kokushayisana yinkinga enkulu ebhekene nokuphepha nokuzinza kwamarobhothi ngomshini. Kubaluleke kakhulu ekwenzeni amarobhothi abe nemisebenzi yokuqapha indawo nokutholwa kokushayisana.

2.3 Inkinga yokutakula ngokushesha ngemuva kokwehluleka

Imininingwane yokuma kwerobhothi ibuyiselwa emuva nge-encoder yemoto yedrayivu umphini ukunyakaza. Ngenxa yokusebenza kwesikhathi eside, ukwakheka komshini, ibhethri lokufaka ikhodi, ikhebuli nezinye izinto kuzokwenza ukuthi ilahle irobhothi. Ngemuva kokuthi indawo ye-zero ilahlekile, i-robot izoyigcina. Imininingwane yohlelo ngeke ibe nencazelo ebonakalayo. Ngalesi sikhathi, uma isikhundla se-zero singeke sikwazi ukubuyiselwa ngokunembile, umthwalo wokuthola umsebenzi we-robot mkhulu kakhulu, ngakho-ke inkinga yokuthola isikhundla zero nayo ibaluleke kakhulu.

3 Izixazululo ezisemqoka

3.1 Ukuphela kokulayisha ubuchwepheshe bokuhlonza okuzenzakalelayo nobuchwepheshe obunamandla bokuphakela be-torque

Ubuchwepheshe bokuhlonza umthwalo wokugcina othomathikhi bungakhomba ubukhulu, maphakathi nobukhulu kanye ne-inertia yomthwalo wokuphela kwerobhothi. Lezi zimingcele zingasetshenziswa ku-feed dynamics ye-robot, ukulungisa imingcele ye-servo nokuhlela kwejubane, okungathuthukisa kakhulu ukunemba kwe-trajectory yerobhothi nokusebenza okuphezulu okunamandla.

Ubuchwepheshe obushukumisayo be-torque feedforward bususelwa kulawulo lwendabuko lwe-PID futhi bengeza ubuchwepheshe be-torque feedforward control. Lo msebenzi ungasebenzisa imodeli ye-robot dynamics nemodeli yokushayisana ukubala amandla amakhulu wokushayela noma i-torque lapho uhlela indlela yokuhamba ngokuya ngemininingwane emile efana nerobhothi nolwazi lwangempela lwesikhathi sangempela njengejubane nokusheshisa, nenani elibaliwe idluliswa njengenani lokuphakelayo. Nikeza isilawuli ukuthi siqhathanise nenani elisethwe ngaphambili lemoto ku-loop yamanje, ukuze kutholakale i-torque ehamba phambili, shayela ukunyakaza kwejubane eliphezulu nokunemba kwe-eksisi ngayinye, bese wenza ukuphela kwe-TCP kuthole ukunemba okuphezulu kwe-trajectory.

3.2 Ubuchwepheshe bokubona ukushayisana

Lobu buchwepheshe bususelwa ekumodeleni kwe-robot dynamics. Lapho irobhothi noma umthwalo wokugcina werobhothi ushayisana nemishini yensimbi, irobhothi lingathola ithorikhi eyengeziwe eyenziwe ukungqubuzana. Ngalesi sikhathi, irobhothi lizimisa ngokuzenzekelayo noma liye kolunye uhlangothi lokushayisana ngejubane eliphansi. Gijimela ukugwema noma ukunciphisa ukulahleka okubangelwe ukushayisana.

Ubuchwepheshe bokutholwa kwephuzu le-3.3

Izindlela ezijwayelekile zokulinganiswa kwephoyinti, ngemuva kokuqedwa kokuqondaniswa kwamamaki, kusazoba namaphutha athile. Usayizi wephutha uncike kwikhwalithi yokucubungula yamaki we-zero nesimo sengqondo se-opharetha, futhi le ngxenye yephutha ayinakususwa ngokuthuthukisa izidingo zokucubungula nokwenza ukuqeqeshwa kokusebenza. . Kusetshenziswa lobu buchwepheshe, lapho irobhothi lilahlekelwa iphuzu elingu-zero, irobhothi lihanjiswa liseduze kwephoyinti, ukuze imigwaqo noma imigqa yababhali ihambisane ngokuphelele. Ngalesi sikhathi, funda inani le-motor encoder ukuthola inani lesinxephezelo, ukuze irobhothi likwazi ukubuyisela ngokunembile isikhundla se-zero.

4 Inkomba yokuthuthuka yesikhathi esizayo

4.1 Ukubambisana komshini womuntu

Njengamanje, iningi lokusetshenziswa kwamarobhothi ezimboni lisezindaweni zokusebenzela noma emhlanganweni, futhi akukho ukuxhumana nokusebenzisana nabantu. Ngokuzayo, ukubambisana phakathi kwabantu namarobhothi kuzoba inkomba ebaluleke kakhulu yentuthuko yezinqubo zokukhiqiza eziyinkimbinkimbi ngokwengeziwe. Izingqinamba ezibalulekile amarobhothi ezimboni adinga ukuzixazulula ukufeza ukubambisana kwemishini yabantu ukuthi ungabona kanjani ukusebenza kwabantu, ukuthi ungaxhumana kanjani nabantu, futhi into ebaluleke kakhulu ukuthi ungaqinisekisa kanjani indlela yokuphepha yokubambisana kwemishini yabantu. Ngenkathi ubona ukubambisana komshini womuntu nokuqinisekisa ukuphepha kwabantu, kuyadingeka futhi ukuthi ubheke ngokuphelele isigqi sokukhiqiza, okuzoba umkhuba obalulekile. Eminyakeni yamuva nje, kuvele amanye amarobhothi asebenzisanayo omshini womuntu, kodwa ngaphansi kwesimo sokuqinisekisa ukuphepha, isigqi sihamba kancane, futhi ukuzinza kudinga ukwenziwa ngcono. Okubaluleke nakakhulu, kuyashesha ukuhlanganisa nezimo zohlelo lokusebenza futhi uthole izimo ezifanele zohlelo lokusebenza. Ukuthuthukiswa komhlaba nokukhuthazwa.

4.2 Ukuhlanganiswa Kwemininingwane

Ngokuzayo, amafektri ahlakaniphile azohlanganisa i-Intanethi Yezinto, izinzwa, amarobhothi, nedatha enkulu. Amarobhothi ezimboni, njengomunye wemishini eyisisekelo ebaluleke kakhulu, akumele asebenzisane ngempumelelo nezinzwa eziningi kuphela, kodwa futhi kufanele axhumane nezinhlelo ezisezingeni eliphakeme njengeMES. Uhlelo luqhuba ukushintshaniswa kolwazi. Ngokuya nge-Intanethi Yezinto nedatha enkulu, izinga eliphezulu lenza inqubo yokukhipha idatha, inqubo yokwenza inqubo, noma ukuxilonga okukude nokugcinwa kwemishini, futhi ikhipha imiyalo kumarobhothi ezimboni ukuqedela yonke inqubo yokulawula okuhlakaniphile. Ngakho-ke, ukuhlanganiswa kolwazi kwamarobhothi ezimboni kuzoba umkhuba obaluleke kakhulu wentuthuko.

Xhumanisa nale ndatshana: Isicelo Of Industrial Robot Machining Iyalayisha Futhi athula

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