Me pēhea te whiriwhiri i te manipulator servo tuaka-toru e tika ana mō ngā tono ahumahi rerekē

Me pēhea te whiriwhiri i te karetao servo tuaka-toru tika mō ngā mahi ahumahi rerekē

Ratonga Tuaka-Toru Rōpoti SAratohu Pōti: Ngā Arorau Matua me ngā Otinga Whaihua mō ngā Ahumahi Rerekē

I roto i te ngaru o te whakaputa aunoa, ngā karetao servo tuaka-toru, me tōna tino tika, tōna pumau, me tōna kaha urutau, kua noho hei poutokomanawa mō te whakaputa i roto i ngā ahumahi pēnei i te hanga hikohiko, ngā wāhanga motuka, ngā ratonga tākai, me ngā taputapu hauora. Heoi, he rerekē rawa ngā taiao whakaputa, ngā mea tukatuka, me ngā whakaritenga tika puta noa i ngā ahumahi. Ko te whiriwhiri matapo i tētahi karetao tika ehara i te mea ka iti noa te whakamahinga o ngā taputapu engari ka piki ake hoki ngā utu whakaputa me te pā ki te whai huatanga. Ka tātarihia e tēnei tuhinga ngā paearu whiriwhiri matua mō ngā karetao servo tuaka-toru i runga i ngā hiahia o te ahumahi, ka whakarato i ngā rautaki whiriwhiri tika me ngā tohutoro mahi mō ngā kamupene i roto i ngā ahumahi rerekē.

I. Me Whakamārama Ngā Whakaritenga Matua i mua i te Kōwhiringa: Te Tātari i ngā Hiahia o te Ahumahi

Ko te whiriwhiri i tētahi karetao servo tuaka-toru he mea e pā ana ki te "taurite i ngā hiahia." I mua i te arotahi ki ngā tawhā taputapu, he mea nui kia mārama ki ngā whakaritenga matua o te umanga. Ko ngā hiahia rerekē o ngā umanga e whā e whai ake nei e whakatau tika ana i te tukanga whiriwhiri:

(I) Te Hanganga Hikohiko: Te Whakatairanga i te Tika, te Taurite i te Mama me te Tere Tere

Ko te hanga hikohiko e aro ana ki ngā tono pēnei i ngā wāhanga waea pūkoro, te takai maramara, me te tukatuka PCB. He maha ngā wā ka uru atu ēnei tukanga ki ngā hua he iti noa te rahi (mirimita, tae atu ki te tauine maikorona) me ngā rauemi pakarukaru (pēnei i ngā uku me ngā kirihou). Nō reira, me aro te ahumahi ki te "tino tika + te urupare tere-nui + te mama": Me whakatutuki e ngā tukanga huihuinga te tika o te tūnga o ngā karetao ki te 0.01mm hei ārai i te kino o ngā wāhanga; me nui ake i te toru ngā wā ia hekona te auau hopu o ngā tukanga tirotiro kia rite ki te huringa raina whakaputa; ā, me pupuri te taumaha o te karetao ki raro iho i te 50kg hei whakaiti i te kawenga i runga i te papa mahi.

(II) Ngā Wāhanga Aunoa: Ko te mahi taumaha te mea nui ki te pumau me te roa

Ko te hanga wāhanga motuka e kapi ana i ngā mahi pēnei i te whakahaere tā, te huihuinga miihini, me te pupuri potae. Ko te nuinga o ngā wāhanga mahi e tukatukahia ana he wāhanga whakarewa e taumaha ana mai i te torutoru kirokaramu ki te rau kirokaramu. Ko ngā whakaritenga matua o te umanga ko **"kawenga nui + pumau kaha + roa te ora"**: me kawe e te karetao he wāhanga mahi 50-200kg me te tu atu i te wiri me te pānga o te mīhini tā; me mahi tonu te tukanga huihuinga mō te neke atu i te 16 hāora me te kore e pakaru, ā, ko te wā toharite i waenga i ngā pakaru (MTBF) me neke atu i te 10,000 hāora; i te wa ano, me urutau ki ngā taiao uaua pēnei i te parahanga hinu me te puehu i roto i te awheawhe.

(III) Te Ahumahi Tākai me te Whakahaere: Te Arotahi ki te Whai Hua, Te Whakanui i te Haereere me te Hototahi

Ko ngā āhuatanga matua o te umanga tākai me te kawe taonga ko te whakatakoto pāreti ki runga kātene, te whakarōpūtanga tuku tere, me te tākai hua. Ko ngā whakaritenga e aro ana ki te "haere roa + hototahi teitei + whakaurunga ngāwari": Me whai karetao he haere whakapae o te 2-3 mita me te haere poutū o te 1.5-2 mita hei whakauru i te whakarārangi paparanga maha. Me whai karetao hei whakauru i ngā taonga o ngā rahi rerekē (10cm-100cm) me ngā taumaha (0.1kg-50kg), ā, me tere te huri o te pupuri. Hei tāpiri, ko te Rōpoti MKa taea te hono pai ki te pūnaha MES me te whakarōpū i ngā kaikawe mō te whakaritenga aunoa.

(IV) Te Ahumahi Taputapu Hauora: Te Horoi Tuatahi, Te Mana Pūmau o te Tika me te Haumaru

Ko te hanga taputapu hauora he huihuinga ngira, he whakakanapa i ngā taputapu pokanga, me te whakakī rongoā, me te whakatakoto i ngā whakaritenga pakari mō te ma o te taiao hanga (ko te nuinga o te Akomanga 100-Akomanga 1000), te tika o ngā taputapu, me te haumaru. Ko ngā whakaritenga matua o te ahumahi ko te "hoahoa rūma ma + te tino tika + te tutuki i ngā ture." Me whai tinana maitai kore waikura te karetao me te hinu whakahinuhinu kai hei ārai i te poke o te puehu. Me noho te tika o te tūnga i te wā o te tukanga whakakī ki roto i te 0.02mm, kia ≤0.5% te hapa horopeta. Hei tāpiri, me paahitia e ia ngā tiwhikete FDA, CE, me ētahi atu umanga hei whakatutuki i ngā paerewa hanga taputapu hauora.

II. Ngā Ahu Kōwhiringa Matua: Te Taurite Tika mai i ngā Tawhā ki te Horopaki

I muri i te whakamārama i ngā whakaritenga a te ahumahi, me whakahaere he tukanga whiriwhiri kua whakaritea i runga i ngā tawhā matua o he karetao servo tuaka-toruKo ngā āhuatanga e rima e whai ake nei he mea matua hei whakaaroaro mā te whiriwhiri:

(I) Te Kaha Utaina: Te Taurite i te Taumaha o te Mahinga Mahi me te Tauwehenga Haumaru Rahui

Ko te kaha kawenga te paearu whiriwhiri matua mō Te RōpotiMe tatau i runga i te taumaha tuturu o te rauemi mahi me te taumaha o te pupuri, ā, me waiho he tawhē haumaru 10%-30% hei ārai i te taumaha rawa, ka kino pea te taputapu, ka whakaiti rānei i te tika.
Te Hanganga Hiko: Ko te taumaha o ngā mea mahi he 0.1-5kg te nuinga, me whakamahi he taputapu pupuri mama (0.5-2kg). E taunakihia ana he karetao he 5-10kg te kaha uta, pērā i te raupapa Yamaha YK300R.
Ngā Wāhanga Waka: Ko ngā wāhanga mahi taumaha (50-200kg) me whakamahi i ngā pupuri pakari (5-15kg), ā, me whakamahi hoki i ngā karetao mahi taumaha me te kaha uta 60-250kg, pērā i te raupapa ABB IRB 4600.
Te Tākai me te Whakahaere: Ko ngā taonga taumaha-waenga (5-50kg) me whakamahi i ngā taputapu pupuri ka taea te whakarite (2-8kg), ā, me whakamahi hoki i ngā karetao he 50-100kg te kaha uta, pērā i te raupapa matua KUKA KR 100 R3100.
Ngā Taputapu Hauora: Me whakamahi ngā taputapu mahi mama me te tika (0.05-2kg) i ngā hopu rūma ma (0.3-1kg), kia pai ai ngā karetao taumata rūma ma me te kaha uta 3-5kg, pērā i te Fanuc LR Mate 200iD/7L.

(II) Te Tika o te Tūnga: Arotahi ki te hapa o te auautanga me te whakahāngai me te tika o te miihini.

E wehea ana te tika o te tūnga ki te "tika tūnga tino" (te rerekētanga i waenga i ngā tūnga tūturu me ngā tūnga ūnga) me te "tika auau" (te rerekētanga i waenga i ngā mahi auau o te mahi kotahi). He nui ake te pānga o tēnei ki te pumau o te whakaputanga, ā, me aro nui ki tēnei.

Te Hanga Hiko: Ko te tika o te tāruarua o ngā maramara me te whakapiringa wāhanga me ≤±0.01mm. E taunakihia ana kia whakamahia ngā mīhini tino tika me te tīwiri pōro me te motuka servo.

Ngā Wāhanga Waka: Ko te tā, te whakahaere, me te huihuinga taratara me whai tika te whakahokinga o te ≤±0.1mm. Ka taea e te puku whatanga me te pinion te whakatutuki i tēnei whakaritenga.

Te Whakaritenga Tākai: Ko te tika o te tāruarua o ngā mea me te whakarōpū i ngā mea ki roto i ngā papa me ngā whakarōpūtanga me ≤±0.5mm. He nui ake te whai hua o ngā puku whitiki tukutahi.

Ngā Taputapu Hauora: Ko te whakakī rongoā me te huihuinga taputapu pokanga me whai tika te whakahokinga o te ≤±0.02mm. E taunakihia ana he pūnaha urupare encoder raina tino tika.

(III) Te Awhe Haere: Te hipoki i te Wāhi Mahi me te Arotau i te Ara Nekehanga

Ko te whānuitanga haere o tētahi karetao servo tuaka-toru ko te tuaka-X (whakapae), te tuaka-Y (mua me muri), me te tuaka-Z (poutū). Me whakatau tēnei whānuitanga i runga i te rahi o te tēpu mahi, te tawhiti whakahaere o te rauemi mahi, me te tahora taputapu kia kapi ai te wāhi mahi katoa, me te karo hoki i ngā whakaroa urupare e puta mai ana i te nui rawa o te haere.
Te Hanganga Hiko: Ko te rahi o te tēpu mahi he 1-2 mita te nuinga. Ko ngā haerenga tuaka-X e taunakitia ana he 1.2-2 mita, ko ngā haerenga tuaka-Y he 0.5-1 mita, ā, ko ngā haerenga tuaka-Z he 0.3-0.8 mita, pērā i te Estun ER10-1600.

Ngā Wāhanga Waka: Ko te tawhiti i waenganui i ngā rārangi pēhi he 2-3 mita. Ko ngā haerenga tuaka-X e taunakitia ana he 2.5-3.5 mita, ko ngā haerenga tuaka-Y he 1-1.5 mita, ā, ko ngā haerenga tuaka-Z he 1-1.8 mita, pērā i te Yaskawa MPL160.

Te Whakaritenga Tākai: Ko te teitei o te whakapūtanga papa he 1.5-2 mita. Ko ngā haerenga tuaka-X e taunakitia ana he 2-3 mita, ko ngā haerenga tuaka-Y he 0.8-1.2 mita, ā, ko ngā haerenga tuaka-Z he 1.5-2.2 mita, pērā i te raupapa Delta DRV90L.

Ngā Taputapu Hauora: Ko te rahi o ngā paepae ma he 0.8-1.5 mita. Ko ngā haerenga tuaka-X e taunakitia ana he 1-1.8 mita, ko ngā haerenga tuaka-Y he 0.4-0.8 mita, ā, ko ngā haerenga tuaka-Z he 0.2-0.6 mita, pērā i te Kollmorgen AKM Series.

(IV) Tere Nekehanga: Te Urutau ki ngā Huringa Whakaputa, Te Whakataurite i te Whai Hua me te Tika

Kei roto i te tere nekehanga te tere mōrahi me te whakaterenga me te whakaroa. Me tatau te tere iti rawa e hiahiatia ana i runga i te huringa whakaputa. Kia maumahara ki te whanaungatanga whakahurihuri i waenga i te tere me te tika—ko te tere o te tere, ko te uaua ake te pupuri i te tika. He mea nui te kimi i te taurite i waenga i ngā mea e rua.

Te Hanganga Hiko: Ko te huringa raina huihuinga he 0.3-1 hēkona mō ia wahi, me tere te tere mōrahi o te karetao he 1.5-2 m/s i te tuaka-X me te 1-1.5 m/s i te tuaka-Z, me ngā wā whakaterenga me ngā wā whakaroa ≤ 0.1 hēkona.

Ngā Wāhanga Waka: Ko te huringa tā mo ia wahi he 2-5 hēkona, me te tere mōrahi o te 1-1.5 m/s i te tuaka-X me te 0.8-1.2 m/s i te tuaka-Z, me ngā wā whakatere me te whakaroa ≤ 0.2 hēkona.

Te Whakaritenga Tākai: Ko te huringa whakapūtā he 10-20 ngā wahi/meneti, me te tere mōrahi o te 2-3 m/s i te tuaka-X me te 1.5-2 m/s i te tuaka-Z, me ngā wā whakatere me te whakaroa ≤ 0.15 hēkona.

Ngā Taputapu Hauora: Ko te huringa whakakī he 1-3 hēkona mō ia wahi, me te tere mōrahi o te 0.8-1.2 m/s i te tuaka-X me te 0.5-1 m/s i te tuaka-Z, me ngā wā whakatere me te whakaroa ≤ 0.1 hēkona. hēkona (ko te tika te mea nui).

(V) Te Whakarerekētanga Taiao: Te Whakatau i ngā Āhuatanga Motuhake me te Whakapūmau i te Roa o te Ora o ngā Taputapu

He rerekē rawa ngā taiao whakaputa puta noa i ngā ahumahi. Ko te taumata tiaki me te kōwhiringa rauemi o te ringa karetao ka pā tika ki te pumau me te roa o te mahi a te taputapu. Ko ngā whakaaro matua ko te whakatauranga IP me te awhe pāmahana.

Te Hanganga Hiko: Ko ngā rūma ma (kāore he puehu, kāhore he hinu) me whiwhi i te whakatauranga IP o te IP54, neke atu rānei, me ngā whare konumohe hei ārai i te kohikohinga hiko pateko.

Ngā Wāhanga Waka: Ko ngā awheawhe hinuhinu, puehu hoki me whiwhi i te whakatauranga IP o te IP67, neke atu rānei, me ngā wāhi matua hiri me te pūnaha whakahinuhinu aunoa.

Te Whakaritenga Tākai: Me whiwhi te pāmahana rūma me ngā taiao maroke i te whakatauranga IP o te IP54, neke atu rānei, ā, me rongoa te whare mō te waikura.

Ngā Pūrere Hauora: Me whiwhi ngā rūma ma i te whakatauranga IP o te IP65, teitei ake rānei, he hoahoa koki kore-mate, me te tautoko mō te whakamatemate i te pāmahana teitei (ka taea e ētahi tauira te tu atu ki te 121°C).

III. Aratohu Ārai i te Mahanga Kōwhiringa: Mā ēnei Taipitopito ka Whakatau te Angitu o te Kōwhiringa

Haunga ngā tawhā matua, ko ngā taipitopito e whai ake nei e ngāwari ana te warewarehia koinei te pūtake o ngā hapa kōwhiringa, ā, me karo:

(I) Te Whakahāwea i te Hototahi o te Kaipupuri: Te Whakataurite i te Āhua o te Wāhanga Mahi hei Ārai i ngā Whakarerekētanga Tuarua

Ko te pūmau te wāhanga e pā tika ana ki te mahi. Mēnā kāore i te ōrite te āhua o te pūmau me te mahi, ahakoa ka tutuki te karetao i ngā whakaritenga, e kore e mahi tika. Hei tauira, ko ngā maramara i roto i te umanga hikohiko me whakamahi i ngā pūmau korehau, ko ngā wāhanga whakarewa i roto i te umanga motuka me whakamahi i ngā pūmau hau, ā, ko ngā kātene i roto i te umanga takai me whakamahi i ngā pūmau maikuku maha. I te wā e whiriwhiri ana i tētahi karetao, tonoa te kaihanga kia whakarato i tētahi otinga whānui "karetao + pūmau" hei karo i te utu tāpiri o ngā whakarerekētanga ā muri ake nei.

(II) Te Whakahāwea i te Uauatanga Whakauru: Te Whakauru ki ngā Pūnaha o nāianei hei Whakaiti i ngā Utu Urutau

Ko ētahi kamupene e aro nui ana ki te mahi a te karetao i te wā e whiriwhiri ana i tētahi karetao, me te kore e aro ki tōna whakaurunga me te hototahi ki ngā raina whakaputa o nāianei. He mea nui kia whakamāramahia i mua: te karetao tautoko i ngā kawa whakawhitiwhiti kōrero matua pēnei i a Modbus me Profinet? Ka taea te whakauru ki ngā pūnaha ERP me MES? E ōrite ana ki ngā āhuatanga tāutanga o te papa mahi o nāianei? He mea pai kia whiriwhiria he kaihanga e tuku ana i ngā ratonga whakauru ritenga hei karo i te wā kore mahi o te raina whakaputa nā te kore ōrite o te atanga.

(III) Te Whakaiti i te Ratonga Whai Muri i te Hoko: Te Arotahi ki te Tere o te Urupare hei Whakapūmau i te Haere Tonu o te Whakaputa

Ngā karetao servo tuaka-toru He taputapu tino tika, e hiahia ana ki ngā pūkenga hangarau teitei mō te tiaki tonu me te rapurongoā. I te wā e whiriwhiri ana i tētahi tauira, whakaarohia ngā āheinga ratonga muri-hoko a te kaihanga: Kei roto i te mākete ūnga ōna wāhi ratonga? Kei raro iho i te 4 hāora te wā urupare mō te rapurongoā? Kei te whakarato i ngā taonga wāhanga tāpui me ngā ratonga tiaki auau? Ina koa mō ngā kamupene hokohoko ki tāwāhi, ka pā tika ngā āheinga ratonga muri-hoko ki tāwāhi ki te mahi noa o ngā taputapu, ā, me arotake motuhake.

(IV) Te Whai Matapō i ngā "Tauwhā Teitei": Kōwhiria ngā tauira i runga i ngā hiahia me te whakahaere i ngā utu hoko

Kei te hē te whakaaro o ētahi kamupene "he pai ake ngā tawhā teitei ake," ka hua ake he nui rawa te mahi a ngā taputapu me te pikinga o ngā utu hoko. Hei tauira, i roto i te umanga tākai, ko te auautanga o te whakarōpūtanga he ±0.5mm anake. Mā te whiriwhiri i tētahi tauira tino tika me te tika ±0.01mm ka piki ake ngā utu hoko mā te neke atu i te 30%, engari ko te whakamahinga tuturu he iti iho i te 50%. I te wā e whiriwhiri ana i tētahi karetao, ko te kaupapa matua ko te "tutuki i ngā whakaritenga matua." He rawaka te whakaae ki ngā tawhā whaitake pērā i te tika me te tere, ā, kāore he take ki te whai matapo i ngā whakaritenga taumata teitei.

IV. Ngā Akoranga Take Kōwhiringa Ahumahi: Mai i te Ariā ki te Mahi

(I) Take 1: Te Hanganga Hikohiko - Raina Huihuinga o te Mōrahi Kāmera Waea Pūkoro

Ngā Whakaritenga: Hopukia ngā waeine kāmera 0.2kg ka huihuia ki runga i tētahi papa mahi 1.5m te roa, he tika te tūnga o te ±0.01mm me te wā huringa o te 0.5 hēkona mō ia waeine, i roto i tētahi taiao rūma ma.

Mahere Kōwhiri: Kōwhiria he karetao servo tuaka-toru me te kaha uta o te 5kg me te āheinga whakahoki o te ±0.008mm (pēnei i te Estun ER5-1200), me te pupuri korehau mama (he 0.8kg te taumaha). Ko te haere o te karetao ki te tuaka-X he 1.5m, ko te tuaka-Y he 0.8m, me te tuaka-Z he 0.6m. Ko ngā tere mōrahi he 2m/s i te tuaka-X me te 1.5m/s i te tuaka-Z, me te tiaki IP54. Ngā Hua Whakatinanatanga: Ko te toharite o te mahi a te taputapu he 16 hāora ia rā, me te reiti rahunga o te ≤0.1%. Kua piki ake te reiti hua huihuinga mai i te 95% (te hanga ā-ringa) ki te 99.5%, ka hua ake he pikinga 40% o te pai o te whakaputa.

(II) Take 2: Ngā Wāhanga Aunoa - Raina Whakahaere Poraka Mīhini

Ngā Whakaritenga: Whakahaerehia he poraka mīhini 80kg i waenganui i ngā aho pēhi 3-mita te roa me te tika o te tūnga o ±0.1mm. Whakahaerehia mō ngā hāora 20 ia rā i roto i te taiao awheawhe hinuhinu.
Otinga: Kōwhiria he karetao tuaka-toru mahi taumaha (pērā i te ABB IRB 6700) he 120kg te taumaha o te kawenga me te āheinga whakahoki o te ±0.08mm, me te hono atu ki te pupuri hau (12kg te taumaha). Ko te haere o te karetao ki te tuaka-X he 3.5m, ko te tuaka-Y he 1.2m, me te tuaka-Z he 1.8m. Ko ngā tere mōrahi ko te 1.2m/s (tuaka-X) me te 1m/s (tuaka-Z). Ka tutuki te karetao i te tiakitanga IP67, ā, he pūnaha whakahinuhinu aunoa tōna. Ngā Hua Whakatinanatanga: I eke te MTBF o te taputapu ki te 12,000 hāora, ka piki ake te pai o te whakahaere mai i te 15 ngā wahi/haora (me whakamahi ā-ringa) ki te 60 ngā wahi/haora, ka whakakorea e waru ngā kaiwhakahaere, ā, ka penapenahia te tata ki te 600,000 yuan i roto i ngā utu mahi ā-tau.

(III) Take 3: Te Ratonga Tākai - Raina Tātari Tere Hokohoko Ipurangi

Ngā Whakaritenga: Te whakarōpū i ngā mōkihi tere e 0.5-30kg te taumaha, e kapi ana i te whitiki kawe whakarōpū 2.5 mita te roa, me te tika o te tūnga o ±0.5mm, te wā huringa o te 15 ngā wahi/meneti, me te taiao maroke, pāmahana rūma.
Kōwhiringa Tauira: Kōwhiria he karetao tuaka-toru (pērā i te KUKA KR 60 R2800) he 50kg te taumaha o te kawenga me te ±0.3mm te kaha ki te whakahoki, me te hono atu ki tētahi hopu maikuku maha-whakarerekē (5kg te taumaha). He 2.5m te nekehanga tuaka-X, 1m te tuaka-Y, me 2m te tuaka-Z, he tere mōrahi 2.5m/s i te tuaka-X me te 2m/s i te tuaka-Z, he tiakitanga IP54, me te tautoko mō te whakawhitiwhiti kōrero Profinet.

Ngā Hua: I eke te tika o te whakarōpū ki te 99.8%, i whakapiki ake i te kaha whakarōpū o ia rā mai i te 5,000 ā-ringa ki te 20,000 tūemi, i whakaitihia ngā hapa whakarōpū mā te 80%, ā, i whakahohea te tukutahitanga raraunga wā-tūturu me te pūnaha whakahaere ratonga.

V. Whakarāpopototanga: Ko te arorau matua o te kōwhiringa tauira he "e ahu mai ana i te tono, e peia ana e te tawhā".

Ehara i te mea ngāwari te whiriwhiri i tētahi karetao servo tuaka-toru ki te whakataurite i ngā tawhā. Engari, e aro ana ki ngā hiahia o te ahumahi. Mā te tātari i ngā horopaki whakaputa, te taurite i ngā tawhā matua, me te karo i ngā hapa whiriwhiri, ka taea e tātou te whakatutuki i tētahi taurite tika i waenga i te mahi taputapu me ngā hiahia whakaputa. Ko te hanga hikohiko e whai ana i te "tino tika + tere teitei," ko ngā wāhanga motuka e aro ana ki te "kawenga taumaha + pakari," ko te whakahaere takai e aro ana ki te "haere roa + whai hua," ā, ko ngā taputapu hauora e aro ana ki te "ma + tutuki"—ko ngā tono matua o ngā ahumahi rerekē e whakatau ana i ngā huarahi rerekē ki te whiriwhiri tauira.