Gwero la Mphamvu ya Robtic Welding

Maloboti akuwotcherera ndi maloboti akumafakitale omwe amawotcherera (kuphatikiza kudula ndi kupopera mbewu mankhwalawa).Malinga ndi International Organisation for Standardization (ISO)Industrial Machines Man imatanthauzidwa ngati loboti yowotcherera, loboti yamafakitale ndi yosunthika, yosinthika, yodziwongolera yokha (Manipulator) yokhala ndi nkhwangwa zitatu kapena kupitilirapo zopangira makina opanga mafakitale.Kuti agwirizane ndi ntchito zosiyanasiyana, shaft yomaliza ya robot imakhala ndi mawonekedwe amakina, nthawi zambiri amakhala ndi flange yolumikizira, yomwe imatha kuyikidwa ndi zida zosiyanasiyana kapena ma actuators omaliza.Maloboti owotcherera ndi maloboti akumafakitale omwe ma flanges ake omaliza amakhala ndi zida zowotcherera kapena mfuti zowotcherera (zodula) kuti athe kuwotcherera, kudula kapena kupopera mafuta otentha.

Ndi chitukuko cha ukadaulo wamagetsi, ukadaulo wamakompyuta, kuwongolera manambala ndi ukadaulo wamaloboti, maloboti owotcherera okha, kuyambira m'ma 1960 adayamba kugwiritsidwa ntchito popanga, ukadaulo wake wakula kwambiri, makamaka uli ndi zotsatirazi:ubwino:

1) Khazikitsa ndi kusintha khalidwe kuwotcherera, angasonyeze kuwotcherera khalidwe manambala;

2) Kupititsa patsogolo zokolola za antchito;

3) Kupititsa patsogolo kuchuluka kwa ntchito kwa ogwira ntchito, amatha kugwira ntchito m'malo owopsa;

4) Kuchepetsa zofunikira pa luso la ogwira ntchito;

5) Kufupikitsa nthawi yokonzekera kusinthidwa kwazinthu ndikusintha, kuchepetsa ndalama zofananira ndi zida.

Choncho, m'mbali zonse za moyo wagwiritsidwa ntchito kwambiri.

Loboti yowotcherera imaphatikizapo magawo awiri: zida zowotcherera ndi roboti.Loboti ili ndi thupi la loboti ndi kabati yowongolera (hardware ndi mapulogalamu).Zida zowotcherera, kutenga kuwotcherera arc ndi kuwotcherera malo mwachitsanzo, kumapangidwa ndi mphamvu zowotcherera (kuphatikiza dongosolo lake lowongolera), wodyetsa waya (kuwotcherera kwa arc), mfuti yowotcherera (chipani) ndi zina zotero.Kwa maloboti anzeru, payeneranso kukhala ndi makina omvera, monga ma sensor a laser kapena kamera ndi zowongolera zawo.

Chithunzi chowotcherera cha robot

Maloboti akuwotcherera opangidwa padziko lonse lapansi kwenikweni ndi maloboti olumikizana, ambiri omwe ali ndi nkhwangwa zisanu ndi imodzi.Pakati pawo, nkhwangwa 1, 2, 3 zimatha kutumiza chida chomaliza kumalo osiyanasiyana, pamene 4, 5, 6 olamulira kuthetsa zofunikira zosiyanasiyana za mawonekedwe a chida.Pali mitundu iwiri ikuluikulu yamakina opangira ma loboti owotcherera: imodzi ndi mawonekedwe a parallelogram ndipo inayo ndi mawonekedwe okwera (kugwedezeka).Ubwino waukulu wa mawonekedwe opangidwa ndi mbali (kugwedezeka) ndi ntchito zambiri zapamwamba ndi pansi, zomwe zimathandiza kuti malo ogwirira ntchito a robot afikire pafupifupi gawo.Chotsatira chake, lobotiyo imatha kugwira ntchito mozondoka pamiyendo kuti isunge malo apansi ndikuwongolera kuyenda kwa zinthu pansi.Komabe, loboti yokhala ndi mbali iyi, 2 ndi nkhwangwa za 3 zamapangidwe a cantilever, imachepetsa kuuma kwa loboti, yomwe nthawi zambiri imakhala yoyenera ma robot ang'onoang'ono, kuwotcherera arc, kudula kapena kupopera mbewu mankhwalawa.Dzanja lapamwamba la loboti ya parallelogram limayendetsedwa ndi lever.Lever imapanga mbali ziwiri za parallelogram yokhala ndi mkono wakumunsi.Kotero ndi dzina.Kukula koyambirira kwa malo ogwirira ntchito a parallelogram ndi ochepa (ochepa kutsogolo kwa loboti), ndizovuta kupachika ntchito mozondoka.Komabe, robot yatsopano ya parallelogram (roboti yofanana) yopangidwa kuyambira kumapeto kwa zaka za m'ma 1980 yatha kuwonjezera malo ogwirira ntchito pamwamba, kumbuyo ndi pansi pa robot, popanda kuuma kwa robot yoyezera, kotero yakhala ikuyang'aniridwa kwambiri.Kapangidwe kameneka ndi koyenera osati kokha kwa kuwala komanso kwa ma robot olemera kwambiri.M'zaka zaposachedwa, maloboti akuwotcherera (katundu 100 mpaka 150 kg) amasankha maloboti amtundu wa parallelogram.

Iliyonse ya ma loboti awiri omwe ali pamwambapa imagwiritsidwa ntchito poyendetsa, motero injini ya servo imayendetsedwa ndi gudumu la singano (RV) chochepetsera (1 mpaka 3 nkhwangwa) komanso chochepetsera (1 mpaka 6 nkhwangwa).Zaka za m'ma 1980 zisanafike, maloboti oyendetsedwa ndi magetsi amayendetsedwa ndi ma DC servo motors, ndipo kuyambira kumapeto kwa zaka za m'ma 1980, mayiko adasinthira kukhala ma AC servo motors.Chifukwa ma motors a AC alibe maburashi a kaboni, mawonekedwe abwino amphamvu, kotero kuti loboti yatsopanoyi imangokhalira kugunda kwa ngozi, komanso nthawi yosamalirako idakwera kwambiri, kuphatikiza (kuchepetsa) liwiro komanso mwachangu.Maloboti ena atsopano opepuka okhala ndi zolemera zosakwana 16 kg amakhala ndi liwiro loyenda kwambiri kuposa 3m / s pamalo awo opangira zida (TCP), malo olondola komanso kugwedezeka kochepa.Panthawi imodzimodziyo, nduna yoyang'anira loboti idagwiritsanso ntchito 32-bit microcomputer ndi algorithm yatsopano, kuti ikhale ndi ntchito yokonza njira yokhayo, kuyendetsa njira yoyandikira njira yophunzitsira.

mwapadera

Sinthani Mawu

Spot kuwotcherera sikovuta kwambiri pamaloboti owotcherera.Chifukwa kuwotcherera malo kumangofunika kuwongolera mfundo, monga zowotcherera pliers pakati pa mfundo ndi mfundo ya kayendedwe ka trajectory sizovuta, zomwe ndi loboti ingagwiritsidwe ntchito powotcherera pazifukwa zoyambirira.Malo owotcherera loboti sikuti ali ndi mphamvu zokwanira zonyamula katundu, komanso kuthamanga kwa liwiro la point-to-point ndikothamanga, kuchitapo kanthu kuyenera kukhala kosalala, kuyikika kuyenera kukhala kolondola, kuti muchepetse nthawi yosinthira, kukweza.

Zokolola zambiri.Kuti loboti yowotchera maloboti ikufunika kuchuluka kwa katundu zimatengera mtundu wa chotchingira chomwe chagwiritsidwa ntchito.Kwa zowotcherera pliers olekanitsidwa ndi thiransifoma, 30 mpaka 45 makilogalamu katundu wa maloboti ndi wokwanira.Komabe, mbali imodzi, mtundu uwu wa kuwotcherera achepetsa ndi chifukwa yaitali yachiwiri chingwe chingwe, kutaya mphamvu ndi lalikulu, si bwino loboti kuwotcherera pliers kuwotcherera mkati mwa workpiece, Komano. , chingwe cha chingwe chimasinthasintha ndi kayendetsedwe ka robot, kuwonongeka kwa chingwe kumathamanga mofulumira.Choncho, ntchito Integrated kuwotcherera pliers pang'onopang'ono kuwonjezeka.Chotchinga chowotcherera ichi, pamodzi ndi chosinthira, chimakhala ndi kulemera pafupifupi 70 kg.Poganizira kuti loboti iyenera kukhala ndi mphamvu zokwanira zonyamula katundu, zowotcherera zowotcherera pamalo okwera kwambiri, maloboti olemetsa okhala ndi 100 mpaka 150 kg nthawi zambiri amasankhidwa.Pofuna kukwaniritsa zofunikira za mtunda waufupi mofulumira kusamutsidwa kwa weld clamps pa mosalekeza malo kuwotcherera.Roboti yatsopano yolemetsa imawonjezera kuthekera komaliza kusamuka kwa 50mm mu 0.3s.Izi zimayika patsogolo zofunikira pakuchita kwa injini, kuthamanga kwa kompyuta ndi ma algorithm a microcomputer.

Kamangidwe kamangidwe

Sinthani Mawu

Chifukwa kamangidwe ka kuwotcherera loboti ali mu quasi-ndege, yopapatiza danga chilengedwe, pofuna kuonetsetsa kuti loboti akhoza younikira kuwotcherera wa weld malinga ndi kupatuka zambiri sensa arc, loboti ayenera kupangidwa yaying'ono, flexible kayendedwe. ndi ntchito yokhazikika.Potengera mawonekedwe a malo opapatiza, loboti yaing'ono yowotcherera yam'manja imapangidwa, molingana ndi mawonekedwe amtundu uliwonse wa loboti, pogwiritsa ntchito njira yopangira ma modular, makina a loboti amagawidwa m'magawo atatu: nsanja yam'manja yamawilo, chosinthira tochi ndi sensor ya arc.Pakati pawo, matayala mafoni nsanja chifukwa cha inertia, pang'onopang'ono kuyankha, makamaka pa kuwotcherera akhakula kutsatira, ndi tochi kusintha limagwirira ndi udindo kutsatira ndendende wa weld, arc sensa kuti amalize kuwotcherera kupatuka zenizeni nthawi chizindikiritso.Kuphatikiza apo, wowongolera ma robot ndi oyendetsa galimoto amaphatikizidwa papulatifomu yam'manja ya robot, ndikupangitsa kuti ikhale yaying'ono.Nthawi yomweyo, kuti muchepetse chikoka cha fumbi pazigawo zosuntha m'malo ovuta kuwotcherera, mawonekedwe otsekedwa bwino amagwiritsidwa ntchito kuti apititse patsogolo kudalirika.ofdongosolo lake.

konzekeretsani

Sinthani Mawu

The kuwotcherera zipangizo malo kuwotcherera loboti, chifukwa ntchito Integrated kuwotcherera pliers, kuwotcherera thiransifoma anaika kuseri kwa pliers kuwotcherera, kotero thiransifoma ayenera kukhala laling'ono ngati n'kotheka.Kwa osinthira ang'onoang'ono amatha kugwiritsa ntchito 50Hz pafupipafupi AC, ndipo kwa osinthira akulu, ukadaulo wa inverter wagwiritsidwa ntchito kusintha 50Hz pafupipafupi AC kukhala 600 mpaka 700Hz AC, kotero kuti kukula kwa chosinthira kuchepetsedwa ndikuchepa.Pambuyo kupanikizika kosinthika kungakhale mwachindunji ndi kuwotcherera kwa 600 mpaka 700Hz AC, kungathenso kukonzedwanso, ndi kuwotcherera kwa DIRECT.Zowotcherera magawo zimasinthidwa ndi timer.The timer latsopano wakhala microcomputed, kotero loboti control cabinet can direct control timer popanda kufunikira kwa mawonekedwe owonjezera.Spot kuwotcherera pliers maloboti, nthawi zambiri okhala ndi pneumatic kuwotcherera pliers, pneumatic kuwotcherera pliers pakati maelekitirodi awiri a digiri yotsegulira nthawi zambiri zikwapu ziwiri.Ndipo pamene kuthamanga kwa electrode kusinthidwa, sikungasinthidwe mwakufuna kwake.M'zaka zaposachedwapa, mtundu watsopano wa magetsi servo malo kuwotcherera clamps waonekera.Kutsegula ndi kutseka kwazitsulo zowotcherera zimayendetsedwa ndi injini ya servo, ndipo ndemanga ya mbale ya code imalola kuti kutsegula kwa pliers kusankhidwe mwachisawawa ndikukonzedweratu malinga ndi zosowa zenizeni.Ndipo mphamvu yamphamvu pakati pa ma electrode imathanso kusinthidwa popanda siteji.Wowotchera watsopano wamagetsi wa servo ali ndi zabwino izi:

1) The kuwotcherera mkombero wa mfundo kuwotcherera aliyense akhoza kuchepetsedwa kwambiri, chifukwa mlingo wa kutsegula kwa zowotcherera pliers ndi ndendende kulamulidwa ndi loboti, loboti pakati pa mfundo ndi mfundo kayendedwe ndondomeko, kuwotcherera pliers akhoza kuyamba kutseka;

2) Digiri yotsegulira yachitsulo chowotcherera imatha kusinthidwa malinga ndi momwe zimagwirira ntchito, bola ngati palibe kugundana kapena kusokoneza kuchepetsa kuchuluka kwa kutsegula, kuti mupulumutse digiri yotsegulira yotchingira, kuti kupulumutsa nthawi yotanganidwa ndi kutsegula ndi kutseka kwa kuwotcherera achepetsa.

3) Pamene zowotcherera zowotcherera zimatsekedwa ndi kukakamizidwa, osati kukula kwa kupanikizika komwe kungasinthidwe, komanso pamene kutsekedwa, ma electrode amatsekedwa mofatsa, kuchepetsa kuwonongeka kwa zotsatira ndi phokoso.

Loboti yowotcherera malo FANUC R-2000iB

ntchito kuwotcherera

sinthani


Nthawi yotumiza: Aug-04-2021