Kodi nchifukwa ninji maloboti sangathe kugwira ntchito molondola malinga ndi malo awo mobwerezabwereza? M'machitidwe owongolera ma loboti, kupatuka kwa machitidwe osiyanasiyana olumikizirana ndi chinthu chofunikira kwambiri chomwe chimakhudza kulondola kwa loboti komanso kubwerezabwereza. Zotsatirazi ndikuwunika mwatsatanetsatane zapatuka kwa machitidwe osiyanasiyana:
1. Zogwirizanitsa zoyambira
Chogwirizanitsa choyambira ndi chizindikiro cha machitidwe onse ogwirizanitsa ndi poyambira kukhazikitsa mtundu wa kinematic wa robot. Pomanga chitsanzo cha kinematic pa mapulogalamu, ngati kukhazikitsidwa kwa maziko ogwirizanitsa dongosolo sikuli kolondola, zidzatsogolera kusonkhanitsa zolakwika mu dongosolo lonse. Cholakwika chamtunduwu sichingawonekere mosavuta pakuwongolera ndikugwiritsa ntchito pambuyo pake, popeza pulogalamuyo mwina idachitapo kale chipukuta misozi mkati. Komabe, izi sizikutanthauza kuti kukhazikitsidwa kwa makonzedwe apansi kungathe kunyalanyazidwa, monga kupatuka kulikonse kakang'ono kangakhudze kwambiri kulondola kwa kayendedwe ka robot.
2, DH imagwirizanitsa
Mgwirizano wa DH (Denavit Hartenberg amagwirizanitsa) ndilolozera pamazungulira a axis aliwonse, omwe amagwiritsidwa ntchito pofotokoza malo ogwirizana ndi kaimidwe pakati pa mfundo za loboti. Pomanga robot kinematic chitsanzo pa mapulogalamu, ngati chitsogozo cha DH coordinate system akhazikitsidwa molakwika kapena magawo olumikizirana (monga kutalika, kuchotsera, torsion angle, etc.) sizolondola, zingayambitse zolakwika pakuwerengera kwa homogeneous. kusintha matrix. Cholakwika chamtunduwu chidzakhudza mwachindunji momwe roboti imayendera komanso kaimidwe. Ngakhale kuti sizingadziwike mosavuta panthawi yowonongeka ndi kugwiritsidwa ntchito chifukwa cha njira zolipirira zamkati mu pulogalamuyo, m'kupita kwanthawi, zidzakhala ndi zotsatira zoipa pa kulondola kwa kayendedwe ka robot ndi kukhazikika.
3. Zogwirizanitsa pamodzi
Kugwirizana kophatikizana ndi chizindikiro cha kayendedwe kolumikizana, kogwirizana kwambiri ndi magawo monga kuchepetsa chiŵerengero ndi malo oyambira axis iliyonse. Ngati pali cholakwika pakati pa dongosolo logwirizanitsa mgwirizano ndi mtengo weniweni, zidzatsogolera kusuntha kolakwika. Kusalondola kumeneku kungawonekere ngati zochitika monga kutsika, kutsogolera, kapena kugwedezeka pamodzi, zomwe zimakhudza kwambiri kulondola kwa kayendedwe ka robot. Kuti mupewe izi, zida zoyezera bwino kwambiri za laser nthawi zambiri zimagwiritsidwa ntchito kuwongolera bwino njira yolumikizirana loboti isanachoke pafakitale, kuwonetsetsa kulondola kwa kayendetsedwe ka mgwirizano.
4. Zogwirizanitsa zapadziko lonse lapansi
Ma coordinates apadziko lonse lapansi ndiye chizindikiro cha kayendedwe ka mzere ndipo amagwirizana ndi zinthu monga kuchepetsa chiŵerengero, malo oyambira, ndi magawo olumikizirana. Ngati pali cholakwika pakati pa dongosolo logwirizanitsa dziko lapansi ndi mtengo weniweni, zidzatsogolera kusuntha kosalondola kwa robot, motero kumakhudza kukonzanso kachitidwe ka mapeto. Kusalondola kumeneku kungawonekere ngati zochitika monga kupotoza kwa mapeto, kupendekeka, kapena kusokoneza, zomwe zimakhudza kwambiri kagwiridwe kake ka roboti ndi chitetezo. Chifukwa chake, loboti isanachoke pafakitale, m'pofunikanso kugwiritsa ntchito zida za laser calibration kuti zitsimikizire molondola kayendetsedwe ka dziko lapansi kuti zitsimikizire kulondola kwamayendedwe amzere.
5. Zogwirizanitsa za Workbench
Zogwirizanitsa za Workbench ndizofanana ndi zogwirizanitsa dziko lapansi ndipo zimagwiritsidwanso ntchito pofotokoza malo omwe ali ndi maloboti omwe ali pa workbench. Ngati pali cholakwika pakati pa dongosolo logwirizanitsa la workbench ndi mtengo weniweni, zidzachititsa kuti robotyo isathe kusuntha molondola mumzere wowongoka pamodzi ndi ntchito yokhazikitsidwa. Kusalondola kumeneku kungawonekere ngati loboti ikusuntha, kugwedezeka, kapena kulephera kufika pomwe idayikidwa pa benchi yogwirira ntchito, kusokoneza kwambiri magwiridwe antchito ndi kulondola kwa loboti. Choncho, pamenekuphatikiza ma robot ndi ma workbench, kulinganiza koyenera kwa dongosolo logwirizanitsa la workbench kumafunika.
6, Chida chimagwirizanitsa
Ma Tool coordinates ndi ma benchmarks omwe amafotokozera malo ndi momwe chida chimagwirira ntchito mogwirizana ndi dongosolo logwirizanitsa loboti. Ngati pali cholakwika pakati pa chida chogwirizanitsa dongosolo ndi mtengo weniweni, zidzachititsa kuti zisakwanitse kuchita zolondola zoyenda motsatira mfundo yomaliza yomwe ikugwiritsidwa ntchito panthawi ya kusintha kwa maganizo. Kusalondola kumeneku kungawonekere ngati kupendekeka kwa chida, kupendekeka, kapena kulephera kufikira malo omwe adasankhidwa panthawi yomwe akugwira ntchito, zomwe zimakhudza kwambiri kulondola ndi luso la ntchito ya loboti. M'mikhalidwe yomwe kugwirizanitsa zida zolondola kwambiri kumafunikira, njira ya 23 point ingagwiritsidwe ntchito kuwongolera chida ndi chiyambi kuti ziwongolere kulondola kwathunthu. Njirayi imatsimikizira kulondola kwa dongosolo logwirizanitsa zida pochita miyeso yambiri ndi ma calibrations pa malo osiyanasiyana ndi machitidwe, potero kumapangitsa kuti robot ikhale yolondola komanso yobwerezabwereza.
Kupatuka kwa machitidwe osiyanasiyana olumikizirana kumakhudza kwambiri kulondola kwamayendedwe komanso kuthekera kobwerezabwereza kwa maloboti. Chifukwa chake, pakukonza, kupanga, ndi kukonza zolakwika zamakina a maloboti, ndikofunikira kuyika kufunikira kwakukulu pakuwongolera ndi kuwongolera kuwongolera kwamachitidwe osiyanasiyana kuti zitsimikizire kuti maloboti amatha kumaliza ntchito zosiyanasiyana molondola komanso mokhazikika.
Nthawi yotumiza: Dec-03-2024
