Pakupanga mafakitale amakono, kupopera mbewu mankhwalawa ndikofunikira kwambiri pakupangira zinthu zambiri. Ndi chitukuko chosalekeza chaukadaulo,mafakitale sikisi olamulira kupopera malobotipang'onopang'ono zakhala zida zofunika kwambiri pantchito yopopera mbewu mankhwalawa. Ndi kulondola kwambiri, kuchita bwino kwambiri, komanso kusinthasintha kwapamwamba, kumathandizira kwambiri kutulutsa bwino komanso kupanga bwino kwa kupopera mbewu mankhwalawa. Nkhaniyi ifotokoza zaukadaulo wofunikira wa maloboti opopera a mafakitale asanu ndi limodzi.
2, Kapangidwe ka olamulira asanu ndi limodzi ndi mfundo za kinematic
(1) Mapangidwe a axis asanu ndi limodzi
Maloboti opoperapo a mafakitale asanu ndi limodzi nthawi zambiri amakhala ndi mfundo zisanu ndi imodzi zozungulira, zomwe zimatha kuzungulira mozungulira. Nkhwangwa zisanu ndi imodzizi zimayang'anira kayendetsedwe ka roboti mbali zosiyanasiyana, kuyambira pansi ndikuyendetsa motsatizana mpaka kumapeto (nozzle). Mapangidwe a multi axis awa amapangitsa kuti loboti ikhale yosinthika kwambiri, zomwe zimapangitsa kuti izitha kusuntha movutikira m'malo atatu kuti ikwaniritse zosowa zopopera mbewu zamitundu yosiyanasiyana komanso makulidwe osiyanasiyana.
(2) Mtundu wa Kinematic
Pofuna kuwongolera molondola kayendedwe ka roboti, ndikofunikira kukhazikitsa chitsanzo chake cha kinematic. Kupyolera mu kinematics kutsogolo, malo ndi kayendedwe ka mapeto a zotsatira mu danga akhoza kuwerengedwa potengera miyeso ya ngodya ya mgwirizano uliwonse. Reverse kinematics, kumbali ina, imathetsa ma angles a mgwirizano uliwonse kutengera malo odziwika ndi kaimidwe ka cholinga chomaliza. Izi ndizofunikira pakukonza njira ndi kukonza maloboti, ndipo njira zomwe zimagwiritsidwa ntchito nthawi zambiri zimaphatikiza njira zowunikira komanso njira zowerengera manambala, zomwe zimapereka maziko amalingaliro opopera bwino maloboti.
3,Ukadaulo wamakina wautsi
(1) Ukadaulo wa Nozzle
Mphuno ndi chimodzi mwa zigawo zikuluzikulu za loboti kupopera mbewu mankhwalawa. Makina amakono opopera mankhwala a robot ali ndi njira zowongolera bwino kwambiri komanso ntchito za atomization. Mwachitsanzo, luso lamakono la pneumatic kapena lamagetsi la atomization limatha kuyika atomize ❖ kuyanika mu tinthu tating'onoting'ono, kuonetsetsa kuti ❖ kuyanika. Nthawi yomweyo, nozzle imatha kusinthidwa kapena kusinthidwa malinga ndi njira zosiyanasiyana zopopera mbewu mankhwalawa ndi mitundu yokutira kuti ikwaniritse zosowa zosiyanasiyana zopanga.
(2) Njira yoperekera utoto ndi yoperekera
Kupereka zokutira kokhazikika komanso kuperekera molondola ndikofunikira pakupopera mbewu mankhwalawa. Dongosolo loperekera utoto limaphatikizapo akasinja osungira utoto, zida zowongolera kukakamiza, ndi zina. Mwa kuwongolera kupanikizika kolondola ndi masensa oyenda, zitha kutsimikiziridwa kuti zokutira zimaperekedwa ku nozzle pamlingo wokhazikika wothamanga. Kuonjezera apo, m'pofunika kuganizira zinthu monga kusefa ndi kugwedezeka kwa zokutira kuti zisawonongeke muzovala kuti zisamakhudze khalidwe la kupopera mbewu mankhwalawa ndikusunga kufanana kwa zokutira.
4, Control System Technology
(1) Mapulogalamu ndi Kukonzekera Njira
Njira yopangira mapulogalamu
Pali njira zingapo zopangira ma roboti opopera a mafakitale asanu ndi limodzi. Zowonetsera zachikhalidwe zimawongolera kayendedwe ka maloboti pamanja, kujambula ma mayendedwe ndi magawo a kulumikizana kulikonse. Njirayi ndiyosavuta komanso yodziwika bwino, koma imakhala ndi magwiridwe antchito ocheperako pamapangidwe owoneka bwino. Ndi chitukuko chaukadaulo, ukadaulo wapaintaneti wapaintaneti ukudziwika pang'onopang'ono. Imagwiritsa ntchito makina opangira makompyuta (CAD) ndi mapulogalamu othandizira makompyuta (CAM) kukonza ndikukonzekera njira ya maloboti m'malo owoneka bwino, kuwongolera kwambiri magwiridwe antchito komanso kulondola.
Algorithm yokonzekera njira
Kuti mukwaniritse kupopera mbewu moyenera komanso kofanana, algorithm yokonzekera njira ndi imodzi mwazinthu zazikuluzikulu zowongolera. Ma aligorivimu wamba akukonzekera njira akuphatikizapo kukonza njira yofanana, kukonza njira yozungulira, ndi zina zotere. Ma aligorivimuwa amaganizira zinthu monga mawonekedwe a workpiece, m'lifupi mwake, kuchulukana, ndi zina zotero, kuwonetsetsa kuti zokutira zimayikidwa pamwamba. workpiece ndi kuchepetsa ❖ kuyanika zinyalala.
(2) Sensor Technology ndi Feedback Control
masomphenya sensa
Ma sensor owoneka amagwiritsidwa ntchito kwambirikupopera utoto maloboti. Ikhoza kuzindikira ndi kupeza zogwirira ntchito, kupeza mawonekedwe awo, kukula kwake, ndi malo ake. Pophatikizana ndi njira yokonzekera njira, masensa owoneka amatha kusintha momwe roboti imayendera munthawi yeniyeni kuti zitsimikizire kulondola kwa kupopera mbewu mankhwalawa. Kuphatikiza apo, masensa owoneka amathanso kuzindikira makulidwe ndi mtundu wa zokutira, kukwaniritsa kuwunika kwaubwino wa kupopera mbewu mankhwalawa.
masensa ena
Kuphatikiza pa zowonera zowonera, masensa akutali, masensa opanikizika, ndi zina zambiri zidzagwiritsidwanso ntchito. Sensa yamtunda imatha kuyang'anira mtunda pakati pa nozzle ndi workpiece mu nthawi yeniyeni, kuonetsetsa kukhazikika kwa mtunda wa kupopera mbewu mankhwalawa. The pressure sensor monitors ndikupereka ndemanga pa kukakamizidwa mu dongosolo loperekera utoto kuonetsetsa bata la kupereka utoto. Masensa awa ophatikizidwa ndi dongosolo lowongolera amapanga kuwongolera kwamayankho otsekeka, kuwongolera kulondola komanso kukhazikika kwa kupopera mankhwala kwa robot.
5, ukadaulo wachitetezo
(1) Chipangizo choteteza
Industrial six axis kupopera mbewu mankhwalawa malobotinthawi zambiri amakhala ndi zida zodzitetezera. Mwachitsanzo, kuyika mipanda yotchinga maloboti kuti anthu asalowe m’malo owopsa pamene lobotiyo ikuthamanga. Pali makatani owunikira chitetezo ndi zida zina zomwe zimayikidwa pampanda. Ogwira ntchito akakumana ndi makatani owunikira, loboti imasiya kuthamanga kuti iwonetsetse chitetezo cha ogwira ntchito.
(2) Chitetezo chamagetsi ndi mapangidwe osaphulika
Chifukwa cha kuthekera kwa zokutira zoyaka ndi kuphulika ndi mpweya panthawi ya kupopera mbewu mankhwalawa, makina amagetsi a maloboti amayenera kukhala ndi magwiridwe antchito abwino osaphulika. Kutengera ma mota osaphulika, makabati oyendera magetsi osindikizidwa, ndi zofunikira zokhazikika pakukhazikitsa ndi kuchotsera maloboti kuti apewe ngozi zachitetezo zomwe zimachitika chifukwa cha kuthwanima kwamagetsi.
Ukadaulo wa maloboti opopera a ma axis asanu ndi limodzi umakhudza zinthu zingapo monga makina, makina opopera, makina owongolera, ndiukadaulo wachitetezo. Ndi kupititsa patsogolo kosalekeza kwa kupopera mbewu mankhwalawa komanso zofunikira pakupanga mafakitale, matekinoloje awa akupanganso komanso kupanga zatsopano. M'tsogolomu, tikhoza kuyembekezera luso lamakono la robot, monga njira zamakono zopangira njira, teknoloji yolondola ya sensa, ndi njira zotetezera komanso zodalirika, kuti zipititse patsogolo chitukuko cha mafakitale opopera mankhwala.
Nthawi yotumiza: Nov-13-2024
