Imashini zo gusudira ni robot yinganda zikora gusudira (harimo gukata no gutera).Nk’uko bitangazwa n’umuryango mpuzamahanga wita ku bipimo ngenderwaho (ISO) Imashini y’inganda Umuntu asobanurwa nkimashini isanzwe yo gusudira, robot yinganda ninganda zinyuranye, zishobora gutegurwa, zikoresha imashini zikoresha (Manipulator) zifite amashoka atatu cyangwa menshi ashobora gutegurwa kugirango inganda zikorwe.Kugira ngo ukoreshe ibintu bitandukanye, uruziga rwa nyuma rwa robo rufite intera ya mashini, mubisanzwe ihuza flange, ishobora gushyirwamo ibikoresho bitandukanye cyangwa ibikorwa byanyuma.Imashini zo gusudira ni robot yinganda zifite flanges ya nyuma ya axe yashyizwemo ibyuma byo gusudira cyangwa imbunda zo gusudira (gukata) kugirango zishobore gusudwa, gukata cyangwa guterwa ubushyuhe.

Hamwe niterambere ryikoranabuhanga rya elegitoronike, ikoranabuhanga rya mudasobwa, kugenzura imibare n’ikoranabuhanga rya robo, robot yo gusudira mu buryo bwikora, kuva mu myaka ya za 1960 yatangiye gukoreshwa mu musaruro, ikoranabuhanga ryarwo rimaze gukura, ahanini rifite ibi bikurikiraibyiza:

1) Gutuza no kunoza ubuziranenge bwo gusudira, birashobora kwerekana ubuziranenge bwo gusudira muburyo bw'imibare;

2) Kongera umusaruro w'umurimo;

3) Kunoza imbaraga z'umurimo w'abakozi, zishobora gukorera ahantu habi;

4) Kugabanya ibisabwa kubumenyi bwabakozi;

5) Gabanya uburyo bwo gutegura ibicuruzwa no guhindura, kugabanya ishoramari ryibikoresho bijyanye.

Kubwibyo, mubyiciro byose byakoreshejwe cyane.

Imashini yo gusudira ikubiyemo ibice bibiri: robot nibikoresho byo gusudira.Imashini igizwe numubiri wa robo no kugenzura akabati (ibyuma na software).Ibikoresho byo gusudira, gufata arc gusudira no gusudira ahantu nkurugero, bigizwe nogutanga amashanyarazi (harimo na sisitemu yo kugenzura), kugaburira insinga (gusudira arc), imbunda yo gusudira (clamp) nibindi.Kuri robo zifite ubwenge, hagomba no kubaho sisitemu zo kumva, nka laser cyangwa kamera ya sensor hamwe nubugenzuzi bwabo.

Igishushanyo cya robot

Imashini zo gusudira zakozwe ku isi ahanini ni robot zifatanije, inyinshi muri zo zifite amashoka atandatu.Muri byo, ishoka 1, 2, 3 irashobora kohereza igikoresho cyanyuma kumwanya utandukanye, mugihe 4, 5, 6 umurongo kugirango ukemure ibisabwa bitandukanye muburyo bwo guhagarara.Hariho uburyo bubiri bwingenzi bwuburyo bwa mehaniki yo gusudira umubiri wa robo: imwe ni imiterere ya parallelogramu naho ubundi ni uruhande rushyizweho (swing).Inyungu nyamukuru yimiterere-kuruhande (swing) imiterere nini mubikorwa byinshi byamaboko yo hejuru no hepfo, ibyo bigatuma robot ikora aho ikorera igera kumurongo.Nkigisubizo, robot irashobora gukora hejuru kumurongo kugirango ibike umwanya hasi kandi yorohereze urujya n'uruza rw'ibintu hasi.Nyamara, iyi robot yashizwe kumpande, amashoka 2 na 3 kumiterere ya cantilever, igabanya ubukana bwa robo, mubisanzwe ikwiranye na robo ntoya yimizigo, yo gusudira arc, gukata cyangwa gutera.Ikiganza cyo hejuru cya parallelogramu itwarwa na lever.Lever ikora impande ebyiri za parallelogramu nukuboko kwinyuma.Rero ryiswe.Iterambere ryambere ryibikoresho bya parallelogramu ni bike ugereranije (bigarukira imbere ya robo), biragoye kumanika akazi hejuru.Nyamara, robot nshya ya parallelogramu (parallel parallel) yakozwe kuva mu mpera za 1980 yashoboye kwagura umwanya wakazi kugeza hejuru, inyuma no hepfo ya robo, nta gukomera kwa robo ipima, bityo rero byitabweho cyane.Iyi miterere ntabwo ikwiranye numucyo gusa ahubwo iranakenewe na robo ziremereye.Mu myaka yashize, robot yo gusudira yibibanza (yikoreza kg 100 kugeza 150) ahanini ihitamo imiterere ya robot.

Buri shitingi ya robo ebyiri zavuzwe haruguru ikoreshwa mugukoresha swing, bityo moteri ya servo itwarwa nuruziga rwa urushinge rwa swing (RV) kugabanya (ishoka 1 kugeza 3) hamwe no kugabanya guhuza (axe 1 kugeza 6).Mbere ya za 1980 rwagati, imashini zikoresha amashanyarazi zikoreshwa na moteri ya DC servo, kandi guhera mu mpera za 1980, ibihugu byahinduye moteri ya AC servo.Kuberako moteri ya AC idafite brushes ya karubone, ibintu byiza biranga imbaraga, kuburyo robot nshya itari igipimo cyimpanuka nkeya gusa, ariko kandi nigihe cyo kubungabunga ibidukikije cyiyongereye cyane, wongeyeho (gukuramo) umuvuduko nawo urihuta.Imashini zimwe zoroheje zoroheje zifite imitwaro iri munsi ya kg 16 zifite umuvuduko ntarengwa wa 3m / s kurwego rwibikoresho byabo (TCP), guhagarara neza hamwe no kunyeganyega.Muri icyo gihe, akanama gashinzwe kugenzura imashini za robo nazo zakoresheje microcomputer ya 32-bit na algorithm nshya, ku buryo ifite umurimo wo guhitamo inzira ubwayo, ikayobora inzira yegereye inzira yo kwigisha.

umwihariko

Hindura Ijwi

Gusudira ahantu ntibisaba cyane kuri robo yo gusudira.Kuberako gusudira ibibanza bikenera gusa kugenzura ingingo, nko kubisudira byo gusudira hagati yikintu nigitekerezo cyo kugenda ntabwo ari ibintu bisabwa cyane, aribyo robot irashobora gukoreshwa gusa mugusudira ahantu kubwimpamvu za mbere.Imashini yo gusudira yibibanza ntabwo ifite ubushobozi buhagije bwo kwikorera, ariko kandi no mumwanya wo guhinduranya ingingo yihuta, ibikorwa bigomba kuba byoroshye, imyanya igomba kuba yuzuye, kugirango ugabanye igihe cyo guhinduranya, kuzamura

Umusaruro mwinshi.Ni bangahe ubushobozi bwo gupakira robot isudira ikenera biterwa nuburyo bwa clamp yo gusudira yakoreshejwe.Kubikoresho byo gusudira bitandukanijwe na transformateur, umutwaro wa kg 30 kugeza 45 urahagije.Nyamara, kuruhande rumwe, ubu bwoko bwa clamp yo gusudira buterwa numurongo muremure wa kabili wa kabiri, gutakaza amashanyarazi ni binini, ntabwo bifasha robot gusudira ibyuma byo gusudira imbere mubikorwa byakazi, kurundi ruhande. , umurongo wa kabili uzunguruka hamwe na robot igenda, ibyangiritse byihuta.Kubwibyo, ikoreshwa ryibikoresho byo gusudira byahujwe bigenda byiyongera.Iyi clamp yo gusudira, hamwe na transformateur, ifite uburemere bwa kg 70.Urebye ko robot igomba kuba ifite ubushobozi buhagije bwo kwikorera, ibyuma bisudira kumwanya wikibanza cyo gusudira ku muvuduko mwinshi, robot ziremereye zifite uburemere bwa kg 100 kugeza 150.Kugirango wuzuze ibisabwa byintera ngufi yihuta kwimura clamps mugihe gikomeza gusudira.Imashini nshya iremereye yongeraho ubushobozi bwo kurangiza kwimura 50mm muri 0.3s.Ibi bishyira imbere ibisabwa hejuru kugirango imikorere ya moteri, umuvuduko wo kubara hamwe na algorithm ya microcomputer.

Igishushanyo mbonera

Hindura Ijwi

Kuberako igishushanyo cya robot yo gusudira kiri muri quasi-indege, ahantu hafunganye umwanya muto, kugirango harebwe niba robot ishobora gukurikirana gusudira kwa weld ukurikije amakuru yatandukanijwe na sensor ya arc, robot igomba kuba yarakozwe muburyo bworoshye, bworoshye. n'umurimo uhamye.Urebye ibiranga umwanya muto, hashyizweho robot ntoya yo gusudira igendanwa, ukurikije imiterere yimiterere ya buri miterere ya robo, hakoreshejwe uburyo bwo gushushanya moderi, uburyo bwa robo bugabanyijemo ibice bitatu: urubuga rwimodoka ruzunguruka, imashini itwika kandi arc sensor.Muri byo, porogaramu igendanwa ifite ibiziga kubera inertia yayo, igisubizo cyihuse, cyane cyane kuri weld ikurikirana, uburyo bwo guhindura itara bushinzwe gukurikirana neza gusudira, icyuma cya arc kugirango kirangize gutandukana kwa weld igihe nyacyo.Mubyongeyeho, umugenzuzi wa robo hamwe nuwashoferi ba moteri bahujwe kumurongo wa robot igendanwa, bigatuma iba nto.Muri icyo gihe, kugirango hagabanuke ingaruka zumukungugu kubice byimuka mubidukikije bikaze byo gusudira, imiterere yuzuye ifunze ikoreshwa mugutezimbere ubwizerwe^ofSisitemu.

ibikoresho

Hindura Ijwi

Ibikoresho byo gusudira bya robo yo gusudira ahantu, kubera gukoresha imashini isudira ihuriweho, imashini yo gusudira yashyizwe inyuma yimashini yo gusudira, bityo transformateur igomba kuba nto ishoboka.Kuri transformateur ntoya irashobora gukoresha 50Hz yumurongo wa AC, naho kuri transformateur nini, tekinoroji ya inverter yakoreshejwe muguhindura 50Hz yumurongo wa AC muri 600 kugeza 700Hz AC, kugirango ubunini bwa transformateur bugabanuke kandi bugabanuke.Nyuma yumuvuduko uhindagurika urashobora kuba hamwe na 600 kugeza 700Hz yo gusudira AC, birashobora kandi kongera gukosorwa, hamwe no gusudira DIRECT.Ibipimo byo gusudira byahinduwe nigihe.Ingengabihe mishya yashizwemo microcomputing, bityo rero kugenzura imashini ya robo irashobora kugenzura neza igihe ntagikeneye iyindi interineti.Imashini yo gusudira ya robot yo gusudira, mubisanzwe hamwe na pneumatike yo gusudira, pneumatike yo gusudira hagati ya electrode ebyiri zo kurwego rwo gufungura mubisanzwe ni inkoni ebyiri gusa.Kandi umuvuduko wa electrode umaze guhinduka, ntishobora guhinduka uko bishakiye.Mu myaka yashize, hagaragaye ubwoko bushya bwamashanyarazi ya servo yo gusudira.Gufungura no gufunga ibyuma byo gusudira bitwarwa na moteri ya servo, kandi ibitekerezo bya plaque byerekana ko gufungura pliers byatoranijwe uko bishakiye kandi bigashyirwaho ukurikije ibikenewe nyabyo.Kandi imbaraga zumuvuduko hagati ya electrode nayo irashobora guhinduka nta cyiciro.Iyi mashanyarazi mishya ya servo isudira ifite ibyiza bikurikira:

1) Inzinguzingo yo gusudira ya buri ngingo yo gusudira irashobora kugabanuka cyane, kubera ko urwego rwo gufungura ibyuma bisudira rugenzurwa neza na robo, robot iri hagati yikintu nigikorwa cyo kugenda, ibyuma byo gusudira birashobora gutangira gufunga;

2) Urwego rwo gufungura clamp yo gusudira rushobora guhinduka ukurikije imiterere yakazi, mugihe cyose hatabayeho kugongana cyangwa kwivanga kugirango hagabanuke urwego rwo gufungura, kugirango ubike urwego rwo gufungura clamp yo gusudira, kugirango bikurikirane kubika umwanya ufunzwe no gufungura no gufunga clamp yo gusudira.

3) Iyo ibyuma byo gusudira bifunze kandi bigashyirwaho igitutu, ntabwo ingano yumuvuduko ishobora guhinduka gusa, ariko kandi iyo ifunze, electrode ifunga buhoro buhoro, bikagabanya ihinduka ry urusaku n urusaku.

Imashini yo gusudira ahantu FANUC R-2000iB

Gusudira

Hindura