Ekukhiqizweni kwezimboni zanamuhla, ukusebenza ngokufafaza kuyisixhumanisi esibalulekile enqubweni yokukhiqiza imikhiqizo eminingi. Ngokuthuthuka okuqhubekayo kobuchwepheshe,izimboni eziyisithupha eksisi spray amarobhothikancane kancane ziye zaba imishini eyinhloko emkhakheni wokufafaza. Ngokunemba okuphezulu, ukusebenza kahle okuphezulu, nokuguquguquka okuphezulu, bathuthukisa kakhulu ikhwalithi nokusebenza kahle kokukhiqiza kokufutha. Lesi sihloko sizocubungula ubuchwepheshe obufanele bamarobhothi afutha ama-axis ayisithupha.
2, Isakhiwo se-eksisi eyisithupha nezimiso ze-kinematic
(1) Idizayini ye-eksisi eyisithupha
Amarobhothi okufafaza nge-axis embonini ayisithupha ngokuvamile ahlanganisa amalunga ayisithupha azungezayo, ngalinye elingazungeza i-eksisi ethile. Lezi zimbazo eziyisithupha zinesibopho sokuhamba kwerobhothi ngezindlela ezihlukene, kusukela kusisekelo futhi idlulisa ukunyakaza okulandelanayo kuye kusiphetho sokugcina (umbhobho). Lo mklamo we-multi-eksisi unikeza irobhothi ukuguquguquka okuphezulu kakhulu, okuyenza ikwazi ukufeza ukunyakaza kwe-trajectory okuyinkimbinkimbi endaweni enezinhlangothi ezintathu ukuze kuhlangatshezwane nezidingo zokufafaza zezinto zokusebenza ezinokwakheka nosayizi abahlukahlukene.
(2) Imodeli ye-Kinematic
Ukuze ulawule ngokunembile ukunyakaza kwerobhothi, kuyadingeka ukusungula imodeli yayo ye-kinematic. Ngokusebenzisa i-kinematics eya phambili, indawo kanye nokuma kwe-effector yokugcina emkhathini ingabalwa ngokusekelwe kumanani we-engeli wejoyinti ngalinye. I-reverse kinematics, ngakolunye uhlangothi, ixazulula ama-engeli elunga ngalinye ngokusekelwe endaweni eyaziwayo nokuma kwethagethi yesiphetho somphumela. Lokhu kubalulekile ekuhleleni izindlela nasekuhleleni amarobhothi, futhi izindlela zokuxazulula ezivame ukusetshenziswa zifaka izindlela zokuhlaziya nezindlela zokuphindaphinda izinombolo, ezihlinzeka ngesisekelo sethiyori sokufafazwa okunembayo kwamarobhothi.
3,Ubuchwepheshe besistimu yokufutha
(1) Ubuchwepheshe be-nozzle
Umbhobho ungenye yezingxenye ezibalulekile zerobhothi elifuthayo. Imibhobho yamarobhothi efafaza yanamuhla inokulawula ukugeleza okunembayo kanye nemisebenzi ye-atomization. Isibonelo, ubuchwepheshe obuthuthukisiwe be-pneumatic noma i-atomization kagesi bungakwazi ukwenza i-atomize i-athomu ibe yizinhlayiya ezincane, iqinisekise ikhwalithi yokugqoka. Ngesikhathi esifanayo, umlomo wombhobho ungashintshwa noma ulungiswe ngokuya ngezinqubo ezihlukene zokufafaza kanye nezinhlobo zokumboza ukuze uhlangabezane nezidingo ezihlukahlukene zokukhiqiza.
(2) Uhlelo lokuhlinzeka ngopende nokulethwa
Ukunikezwa kwezimbotshana ezizinzile kanye nokulethwa okunembayo kubalulekile ukuze kube nomphumela wokufafaza. Isistimu yokuhlinzeka ngopende ihlanganisa amathangi okugcina upende, amadivaysi okulawula ingcindezi, njll. Ngokulawula ukucindezela okunembile nezinzwa zokugeleza, kungaqinisekiswa ukuthi ukumboza kulethwa ku-nozzle ngezinga lokugeleza elizinzile. Ukwengeza, kuyadingeka ukucabangela izinkinga ezifana nokuhlunga nokugqugquzela ukugqoka ukuze kuvinjelwe ukungcola ekugqokeni ukuthi kuthinte izinga lokufafaza nokugcina ukufana kokugqoka.
4, Ubuchwepheshe Besistimu Yokulawula
(1) Ukuhlela kanye Nokuhlelwa Kwendlela
Indlela yokuhlela
Kunezindlela ezahlukahlukene zokuhlela zamarobhothi okufafaza ama-axis emboni ayisithupha. Ukuboniswa kwezinhlelo zendabuko kuqondisa ukunyakaza kwamarobhothi mathupha, aqopha ama-trajectories anyakazayo namapharamitha wejoyinti ngalinye. Le ndlela ilula futhi inembile, kodwa inokusebenza okuhle okuphansi kwezingcezu zokusebenza ezinokwakheka okuyinkimbinkimbi. Ngokuthuthuka kobuchwepheshe, ubuchwepheshe bokuhlela ungaxhunyiwe ku-inthanethi buya ngokuya buduma. Isebenzisa i-computer-aid design (CAD) kanye nesofthiwe yokukhiqiza ikhompyutha (CAM) ukuhlela nokuhlela indlela yamarobhothi endaweni ebonakalayo, ithuthukisa kakhulu ukusebenza kahle kwezinhlelo nokunemba.
I-algorithm yokuhlela indlela
Ukuze kuzuzwe ukufuthwa okusebenzayo nokufanayo, i-algorithm yokuhlela indlela ingenye yezinto eziqukethwe wumongo wesistimu yokulawula. Ama-algorithms avamile okuhlela umzila ahlanganisa ukuhlela indlela elinganayo, ukuhlela indlela ezungezayo, njll. Lawa ma-algorithms acabangela izici ezifana nokuma kwendawo yokusebenza, ububanzi besifutho, izinga lokugqagqana, njll., ukuze kuqinisekiswe ukumbozwa okufanayo kwe-coating ebusweni be-workpiece. workpiece futhi unciphise imfucuza enamathela.
(2) Ubuchwepheshe Bezinzwa kanye nokulawula impendulo
inzwa yombono
Izinzwa ezibonakalayo zisetshenziswa kabanzi kufafaza amarobhothi okudweba. Ingakwazi ukukhomba futhi ithole ama-workpieces, ithole ukuma, usayizi, kanye nolwazi lwendawo. Ngokuhlanganisa nesistimu yokuhlela indlela, izinzwa ezibonakalayo zingalungisa umzila wokunyakaza werobhothi ngesikhathi sangempela ukuze kuqinisekiswe ukunemba kokufafaza. Ngaphezu kwalokho, izinzwa ezibukwayo zingakwazi futhi ukubona ubukhulu kanye nekhwalithi yezingubo zokugqoka, ukufeza ukuqapha kwekhwalithi yenqubo yokufafaza.
Ezinye izinzwa
Ngokungeziwe kuzinzwa ezibonakalayo, izinzwa zebanga, izinzwa zokucindezela, njll. nazo zizosetshenziswa. Inzwa yebanga ingakwazi ukuqapha ibanga phakathi kwe-nozzle kanye ne-workpiece ngesikhathi sangempela, iqinisekise ukuzinza kwebanga lokufafaza. Inzwa yokucindezela iqapha futhi inikeza impendulo ngengcindezi ohlelweni lokulethwa kopende ukuze kuqinisekiswe ukuzinza kokulethwa kopende. Lezi zinzwa ezihlanganiswe nesistimu yokulawula zakha isilawuli sempendulo ye-loop evaliwe, ethuthukisa ukunemba nokuzinza kokufuthwa kwamarobhothi.
5, Ubuchwepheshe bokuphepha
(1) Idivayisi yokuzivikela
Amarobhothi afafaza i-industrial axis ayisithuphangokuvamile zifakwe izinto zokuzivikela ezibanzi. Isibonelo, ukumisa uthango lwezokuphepha ezungeze irobhothi ukuvimbela abasebenzi ukuthi bangangeni ezindaweni eziyingozi ngenkathi irobhothi lisebenza. Kunamakhethini okukhanya okuphepha nezinye izinto ezifakwe ocingweni. Uma abasebenzi sebethintana namakhethini akhanyayo, irobhothi lizoyeka ngokushesha ukusebenza ukuze kuqinisekiswe ukuphepha kwabasebenzi.
(2) Ukuphepha kukagesi kanye nomklamo ongaqhumi
Ngenxa yamathuba okunamathela okuvutha nokuqhuma kanye namagesi ngesikhathi sokufafaza, uhlelo lukagesi lwamarobhothi ludinga ukusebenza kahle okungamelana nokuqhuma. Ukwamukela amamotho angaqhumi, amakhabethe okulawula ugesi avaliwe, kanye nezidingo eziqinile zokubeka phansi kanye nezinyathelo zokuqeda ezimile zamarobhothi ukuvikela izingozi zokuphepha ezibangelwa izinhlansi zikagesi.
Ubuchwepheshe bamarobhothi okufafaza ama-axis emboni ayisithupha buhlanganisa izici eziningi ezifana nesakhiwo semishini, uhlelo lokufafaza, uhlelo lokulawula, nobuchwepheshe bokuphepha. Ngokuthuthuka okuqhubekayo kwekhwalithi yokufafaza kanye nezidingo ezisebenza kahle ekukhiqizweni kwezimboni, lobu buchwepheshe buhlala buthuthuka futhi busungula izinto ezintsha. Ngokuzayo, singabheka phambili kubuchwepheshe berobhothi obuthuthuke kakhulu, obufana ne-algorithms yokuhlela indlela ehlakaniphile, ubuchwepheshe bezinzwa obunembe kakhudlwana, nezinyathelo zokuvikela eziphephile nezinokwethenjelwa, ukuze kuthuthukiswe ukuthuthukiswa kwemboni yokufafaza.
Isikhathi sokuthumela: Nov-13-2024
