Ukusetyenziswa ngokuthe ngqo kwe-three-axis servo manipulator ekuhleleni amayeza nasekupakisheni

Ukusetyenziswa Okuthile KweeRobhothi Ze-Servo Ezine-Axis Ezintathu Kwindlela Yokuhlela Nokupakisha Amayeza

Iirobhothi zeServo ze-Three-Axis: Ukuyila ngokutsha iNguquko yokuSebenza kakuhle ekuHlalutheni nasekuPakisheni amaYeza

Ziqhutywa yimigangatho engqongqo yomgangatho weshishini lamayeza kunye nesidingo semveliso ephumelelayo, izixhobo zokwenza izinto ngokuzenzekelayo ziye zaba ngumqhubi ophambili wokuphuculwa nokuguqulwa kweenkampani zamayeza. Iirobhothi ze-servo ezijikeleze ezintathu, ngeenzuzo zazo eziphambili zolawulo oluchanekileyo, ukusebenza okuzinzileyo, kunye nokuguquguquka okuguquguqukayo, zitshintshe indima yazo ekuhleleni amayeza kunye nokupakisha ukusuka "kwizixhobo ezincedisayo" ukuya "kwiiyunithi zemveliso eziphambili." Eli nqaku liza kujonga kwiimeko zazo ezithile zesicelo, ixabiso lobuchwephesha, kunye nengqiqo yesicelo esisebenzayo kweli candelo, libonelela ngereferensi yokuphucula okuzenzakalelayo kweenkampani zamayeza.

I. Iimfuno zeShishini leMithi: Kutheni Ufanele Ukhethe iiRobhothi zeServo ze-Three-Axis?

Iimpawu ezizodwa zemveliso yamayeza zilawula iimfuno ezingqongqo zezixhobo ezizenzekelayo: imigangatho yokucoceka eqinisekisiweyo yi-GMP, ukuchaneka kokuhlela kwinqanaba le-milligram, ukusebenza okuzinzileyo iiyure ezingama-24, kunye nokutshintsha ngokukhawuleza phakathi kweenkcukacha ezininzi zemveliso. Ukuhlela ngesandla kunye nokupakishwa kwendabuko akujongi nje kuphela iingxaki zokusebenza kakuhle (umthamo oqhelekileyo wokuhlela wemihla ngemihla ngomntu ngamnye yiziqwenga ezingama-3,000-5,000 kuphela), kodwa kukwabonisa nemingcipheko yomgangatho efana nokuxubana kwamayeza kunye nesaphulelo esibangelwa yimpazamo yomntu. Nangona kunjalo, izixhobo zokulawula umoya zendabuko zithintelwe kukungonelanga ukulawula ngokuchanekileyo kunye neentshukumo eziguquguqukayo, nto leyo eyenza ukuba zingafaneleki ukusetyenziswa kwamayeza.

Ukuvela kwe-three-axis I-Servo Manipulators ijongana nale ngxaki. Inkqubo yabo yokuhamba ye-X, Y, kunye ne-Z-axis eqhutywa yi-servo-motor ifikelela ekuchanekeni kokubeka kwe-0.1mm. Xa idibene neendlela zokuhamba ezinokucwangciswa kunye nempendulo yokunyanzela, ziyahlangabezana neemfuno zokusebenza ezingenathuli zamagumbi okucoca ngelixa zilungelelanisa ngokuchanekileyo neemfuno zokuphatha iifom ezahlukeneyo zedosi (iipilisi, iikhaphu, ulwelo oluselwa ngomlomo, njl.njl.), nto leyo ezenza zibe lukhetho olufanelekileyo lokucwangcisa amayeza ngokuzenzekelayo kunye nokupakisha.

II. Isiseko sokusetyenziswa Imeko 1: Ulawulo oluchanekileyo lokuHlela amaYeza

Ukuhlela yinode ebalulekileyo kwinkqubo yokuvelisa amayeza, efuna inkqubo epheleleyo ye-closed-loop "yokuchonga - ukubamba - ukwahlula - ukudlulisela." Ukusetyenziswa kweerobhothi ze-servo ze-three-axis kule nkqubo kunokwahlulwa zibe ziimeko ezintathu eziphambili:

(I) Ukuhlelwa ngokuchanekileyo kweeFomu zeMilinganiselo emininzi
Kwimithi eyahlukeneyo, efana neetablethi, iicapsule, kunye neesoftgels, iirobhothi zeservo ezinee-axis ezintathu zinokufikelela ekuhleleni okusebenzayo ngokuzixhobisa ngee-end-effectors ezenzelwe wena. Umzekelo, ekuhleleni iitablethi, kusetyenziswa i-vacuum suction cup end-effector. Inkqubo yeservo ilawula ngokuchanekileyo uxinzelelo lwe-suction cup (0.02-0.05 MPa), iqinisekisa ukubamba okuzinzileyo kweetablethi ezinobubanzi obuqala kwi-3-15 mm ngelixa kuthintela ukwaphuka okubangelwa luxinzelelo olugqithisileyo. Kwiicapsule, kusetyenziswa i-flexible gripper endaweni yoko, kusetyenziswa umsebenzi wolawulo lwamandla emoto yeservo ukugcina amandla okubamba angama-5-10 N, ukuthintela ukuguquka nokuvuza.

Ngokuphathelele ukusebenza kakuhle kokucwangcisa, irobhothi ye-servo ene-axis ezintathu inika inzuzo ebalulekileyo. Ukuthatha imigca yokucwangcisa iithebhulethi zeenkampani zamayeza ezincinci neziphakathi njengomzekelo, imigca yokucwangcisa ngesandla yendabuko inokucubungula malunga neethebhulethi eziyi-8,000-10,000 ngeyure. Nangona kunjalo, imigca yokucwangcisa ezenzekelayo exhotyiswe ngeerobhothi ze-servo ezine-axis ezintathu, ngokusebenzisa unxibelelwano olukhawulezayo phakathi kwee-axis ze-X kunye ne-Y (isantya esiphezulu sokusebenza se-1.5 m/s), inokunyusa lo mthamo ukuya kwiithebhulethi ezingama-30,000-40,000 ngeyure. Izinga lempazamo yokucwangcisa ligcinwa lingaphantsi kwe-0.01%, liphantsi kakhulu kunomgangatho wempazamo we-0.5% wokucwangcisa ngesandla.

(II) Ukuhlelwa okujoliswe kuko kweenombolo zeqela lamayeza
Imithetho yeziyobisi ifuna ukuba iqela ngalinye lamayeza lisasazwe ngokwahlukeneyo kwaye lilandelwe ngokuchanekileyo, nto leyo ebeka iimfuno eziphezulu kakhulu kubuchule bokuchonga ibhetshi yenkqubo yokuhlunga. Irobhothi ye-servo ene-axis ezintathu, eqhagamshelwe kwinkqubo yokuqaphela umbono, yenza ngokuzenzekelayo inkqubo "yokuchonga inani lebhetshi - ukwahlula ngokuchanekileyo - ukudluliselwa okujoliswe kuko." Inkqubo yokubona kuqala ibamba ulwazi lwenani lebhetshi (ibhakhowudi okanye ikhowudi ye-QR) kwiphakheji yamayeza. Isebenzisa i-algorithm, itolika ngokukhawuleza idatha yenani lebhetshi kwaye iyithumele ku Inkampani yeRobotinkqubo yokulawula. Ngokusekelwe kwimithetho yokwahlulahlula amanani ebhetshi esele isetiwe, inkqubo emva koko ilungelelanisa ii-axes ze-X, Y, kunye ne-Z ukuhambisa amayeza ukusuka kwiibhetshi ezahlukeneyo ukuya kwiibhini zazo ezifanelekileyo. Yonke le nkqubo ithatha ngaphantsi kwemizuzwana eyi-0.5, isusa ngokupheleleyo umngcipheko wokuxubana kweebhetshi.

Ukusetyenziswa kwesi sisombululo kwiworkshop yokusetyenziswa komthamo ngomlomo yenkampani enkulu yamayeza kubonise ukuba izinga lokungenelela ngesandla lokuhlelwa kwebhetshi linciphile ukusuka kwi-15% ukuya kwi-0.3%, ukusebenza kakuhle kokulandelela kunyuke kane, kwaye imveliso iphumelele ngempumelelo kuhlolo olungabhengezwanga ziigunya ezilawula amayeza.

(III) Ukulahlwa Ngokuzenzekelayo kweeMveliso Ezineziphene
Ngexesha lenkqubo yokuvelisa amayeza, inani elincinci leemveliso ezineziphene (ezifana neepilisi ezimile kakubi kunye neekhaphu ezivuzayo) zenziwa ngenxa yezinto ezifana neziphene zezinto eziluhlaza kunye notshintsho lwenkqubo. Ukulahlwa kwemveli ngesandla akupheleli nje ekubeni kungasebenzi kakuhle kodwa kukwanokuphoswa kuhlolo. Irobhothi ye-servo ene-axis ezintathu, edityaniswe neenkqubo zokuhlola ezibonakalayo kunye nokufumanisa ubunzima, ivumela ukwaliwa ngokuchanekileyo kweemveliso ezineziphene. Inkqubo yokubona ichonga iziphene zobuhle kwiimveliso zamayeza, ngelixa isenzi sobunzima sichonga ukuphambuka kobunzima (ngokuchaneka kwe-±0.01g). Xa imveliso eneziphene ifunyenwe, inkqubo ithumela ngoko nangoko isignali kwirobhothi, elungisa ngokukhawuleza indlela yayo, ibambe imveliso, ize iyithumele kwibhini yenkunkuma. Ixesha lokuphendula kokulahlwa liyimizuzwana eyi-0.3 kuphela, kunye nezinga lokuchaneka kokulahlwa eliyi-99.99%.

III. Isiseko sokusetyenziswa Imeko yesi-2: Intsebenziswano esebenzayo ekuPakisheni kwamayeza

Ukupakishwa linyathelo lokugqibela kwimveliso yamayeza, elifuna iinkqubo ezininzi, kuquka ukufakwa kwiikhathoni, ukutywinwa, ukulebhelishwa, kunye nokupakishwa kweepalethi. Irobhothi ye-servo ene-axis ezintathu, ngokuhlanganiswa okunzulu nomgca wokuvelisa iipakethi, ifezekisa intsebenziswano esebenzayo kuzo zonke ezi nkqubo.

(I) Ukuhlanganiswa ngokuzenzekelayo kweCartoning kunye neSealing yeMithi yaMayeza

Kwinkqubo yokufaka iikhathoni zeetablethi kunye neekhathoni, irobhothi yeservo ene-axis ezintathu yenza imisebenzi ephambili "yokulungisa" kunye "nokupakisha." Xa sithatha umzekelo wokupakisha iikhathoni, irobhothi kuqala isebenzisa intshukumo ye-X- kunye ne-Y-axis ehambelanayo ukuze ilungiselele kakuhle iipakethe zekhathoni (iikhathoni ezili-12-24 ngepakethi nganye) ezithunyelwa kwi-conveyor. I-Z-axis emva koko yehlisa i-end gripper ukuze ibeke ngokuchanekileyo iipakethe zekhathoni kwiibhokisi zokupakisha. Yonke le nkqubo ithatha imizuzwana eyi-0.8 kuphela kwibhokisi nganye. Ngexesha lenkqubo yokuvala ibhokisi, irobhothi isebenzisana ne-carton sealer ukusonga isiciko kunye nokusebenzisa iglu. Inkqubo ye-servo ilawula amandla okucinezela (20-30N) ukuqinisekisa ukuba ii-box seals ziyahlangabezana nemigangatho yokuthutha kwaye zithintele umonakalo kunye nongcoliseko lwamayeza.

Emva kokuphucula umgca wabo wokupakisha iikhaphu, inkampani yamayeza iqeshe iirobhothi ezimbini ze-servo ezine-axis ezintathu ezisebenza ngaxeshanye. Oku kwandisa ukusebenza kakuhle kokupakisha iibhokisi kunye nokutywina ukusuka kwiibhokisi ezili-120/ngomzuzu ukuya kwiibhokisi ezingama-200/ngomzuzu, kwaye izinga lokwamkelwa kokupakisha lenyuke ukusuka kwi-98.5% ukuya kwi-99.8%.

(II) Ukubekwa ngokuchanekileyo kweeleyibhile zeMithi

Iilebheli zamayeza ziqulethe ulwazi oluphambili olufana negama leyeza, amandla alo, inombolo yebhetshi, kunye nomhla wokuphelelwa kwalo. Nakuphi na ukuphambuka ekubekweni kwelebheli akuchaphazeli ubuhle kuphela kodwa kunokwaphula imithetho yamayeza. Irobhothi ye-servo ene-axis ezintathu ifikelela kwinqanaba le-millimeter lokulebhelisha ngokudibanisa "i-vision positioning + servo drive": Inkqubo yokubona kuqala ichonga iindawo zesalathiso sebhokisi (ezifana neekona kunye neempawu eziprintiweyo), ibala ii-coordinates zokulebhelisha, ize izithumele kwi-robot. I-robot emva koko ihambisa ngokuchanekileyo intloko yokulebhelisha ecaleni kwee-axes ze-X kunye ne-Y ukuya kwindawo ekujoliswe kuyo. I-axis ye-Z ilawula uxinzelelo lokulebhelisha (0.1-0.2 MPa) ukuqinisekisa ukusetyenziswa okubushelelezi, okungenamibimbi kwilebheli, kunye nokuphambuka kwesimo ngaphakathi kwe-±0.5 mm.

Kwipakethe ezimile ngendlela engacwangciswanga njengeebhotile zamayeza ezingqukuva, irobhothi ingasebenzisa i-axis ejikelezayo (i-axis yesine ekhethiweyo) ukuze ifikelele kwi-360°. Inkqubo ye-servo ivumelanisa ulawulo lwesantya ukuqinisekisa isantya esijikelezayo esihambelanayo phakathi kwentloko yelebheli kunye nebhotile, ukuqinisekisa uqhagamshelo olungenamthungo kwindawo yelebheli.

(III) Ukufakwa kweePallets ezikrelekrele kunye nokugcinwa kweemveliso ezigqityiweyo

Emva kokuba kugqityiwe ukupakishwa kwamayeza, kufuneka afakwe ngokukhawuleza kwiipalethi aze agcinwe ukuze kuncitshiswe indawo yomgangatho. Irobhothi ye-servo ene-axis ezintathu inokubala indlela efanelekileyo yokufaka iipalethi ngokusekelwe kubukhulu, ubunzima, kunye neemfuno zokugcina iibhokisi zokupakisha. Kwiibhokisi zomthamo zomlomo ezilula (ibhokisi nganye inobunzima obungaphantsi kwe-500g), isixhobo sokuphelisa iingalo ezininzi sisetyenziselwa ukubamba nokufaka iipalethi kwiibhokisi ezi-4-6 ngexesha. Kwiibhokisi zebhotile zokufaka ezinzima (ibhokisi nganye inobunzima obuyi-10-15kg), kusetyenziswa isixhobo sokufaka umbane, sisebenzisa amandla aphezulu e-torque yemoto ye-servo ukufezekisa ukubamba okuzinzileyo.

Ngokuphathelele ukuchaneka kwe-palletizing, irobhothi isebenzisa ulawulo lokuphakama oluvaliweyo kwi-axis ye-Z ukuqinisekisa ukuba ukuphambuka kwe-stacking yomaleko ngamnye weebhokisi akudluli kwi-1mm. Ukuphakama kwe-palletizing kunokufikelela kwi-1.8-2.5m, kwaye irobhothi ingayilungisa ngokuzenzekelayo imo ye-pallet (umz., isikwere okanye uxande) ngokusekwe kubukhulu beeshelufu zokugcina. Emva kokusetyenziswa kwiziko lokugcina amayeza, ukusebenza kakuhle kwe-palletizing yemveliso egqityiweyo kunyuke ukusuka kwiibhokisi ezingama-80/iyure (ezisetyenziswa ngesandla) ukuya kwiibhokisi ezingama-300/iyure, nto leyo ephucula ukusetyenziswa kwendawo yokugcina impahla ngama-30%.

IV. Iingenelo zobuGcisa obuPhambili kunye noKhetho Amanqaku aPhambili eRobhothi yeServo ye-Three-Axis

(I) Iingenelo ezintathu zobugcisa ezifanelekileyo kwizicelo zamayeza

Uyilo lweCandelo lokucoca: Ngokusebenzisa umzimba wentsimbi engagqwaliyo kunye nezithambiso zodidi lokutya, umphezulu ocoliweyo uyamelana neendlela zokubulala iintsholongwane ezifana notywala kunye nokukhanya kwe-UV, uhlangabezana neemfuno zegumbi lokucoca le-GMP Class 8 kwaye uthintele ukungcoliswa kwamayeza.

Inkqubo yeServo echanekileyo nelawulekayo: Isebenzisa iimoto ze-servo kunye nabaqhubi abavela kwamanye amazwe, ixhasa indlela yokulawula indawo, isantya, kunye namandla. Ukutshintsha okuguquguqukayo kuvumela ukuphathwa ngokuchanekileyo kwezinto ezibuthathaka kunye nokubamba izinto ezinzima ngokuthe ngcembe.

Ukuhlanganiswa okuGuquguqukayo: Ixhasa iinkqubo ezininzi zonxibelelwano lwemizi-mveliso ezifana neModbus kunye neProfinet, idibana ngokungenamthungo neenkqubo zokubona, iinkqubo zokulinganisa, oomatshini bokupakisha, kunye nezinye izixhobo, ivumela ukwenziwa ngokuzenzekelayo komgca wemveliso. Isoftware yokucwangcisa ivumela ukulungiswa ngokukhawuleza kweeparameter zokuhamba, ivumela ukutshintsha kwemigca yemveliso kwiinkcukacha ezininzi zamayeza (ixesha lokutshintsha lingaphantsi kwemizuzu eli-10).

(II) Izinto Ezibalulekileyo Eziqwalaselwayo Kwiinkampani Zamayeza Ekukhetheni Imveliso

Ukuhambelana komthwalo nohambo: Khetha umthamo womthwalo ngokusekelwe kubunzima bamayeza ahlelwayo/apakishwayo (ngesiqhelo yi-1-50 kg). Khetha i-axis ezintathu uluhlu lokuhamba (500-3000 mm kwi-X-axis, 300-2000 mm kwi-Y-axis, kunye ne-200-1000 mm kwi-Z-axis) ngokusekelwe kuyilo lweworkshop ukuqinisekisa ukuba iimfuno zemveliso ziyafezekiswa.

Iimfuneko zeNqanaba loCoceko: Iiworkshop zemveliso zeendlela ezahlukeneyo zomthamo, ezinje ngokulungiselela ngomlomo kunye neenaliti, zifuna amanqanaba ahlukeneyo ococeko, zifuna irobhothi enenqanaba elifanelekileyo lococeko (umz., iKlasi 7 ifanelekile kwiiworkshop zenaliti).

Amandla eNkonzo yasemva koThengiso: Imveliso yamayeza ayinakuphazanyiswa, ngoko ke khetha umenzi onikezela ngempendulo yeeyure ezingama-24 kunye nokubonelela ngezixhobo ezingasetyenziswanga ngokukhawuleza ukuqinisekisa ukulungiswa ngexesha elifanelekileyo xa izixhobo zingasebenzi kakuhle kwaye kuncitshiswe ilahleko yexesha lokungasebenzi kwemveliso.

V. Isiphelo: Ukuphucula Oomatshini Lukhetho Olungenakuphepheka

Phantsi kwendlela ekhulayo yokuphucula umgangatho, ukuphucula ukusebenza kakuhle, kunye nokuthobela imithetho kunye nokulandeleka, iirobhothi ze-servo ezine-axis ezintathu azisezona zixhobo zemveliso nje kuphela; zezona zinto ziphambili eziqhuba ukufikelela ngokuchanekileyo, ukusebenza kakuhle, kunye nobukrelekrele ekuhleleni nasekupakisheni iziyobisi. Ukusuka ekuhleleni iidosi ezininzi ukuya ekugqityweni kweepalethi zemveliso, ukusuka ekulandeleni inani lebhetshi ukuya ekugatheni iimveliso ezineziphene, ukuguquguquka kwazo ngokupheleleyo kunye neenzuzo zobuchwepheshe zinceda iinkampani ezininzi zamayeza ukuba zoyise imiqobo yemveliso, zinciphise umngcipheko womgangatho, kwaye zonyuse ukhuphiswano lwemarike.