Robots ɗin walda mutum-mutumi ne na masana'antu da ke yin walda (ciki har da yanke da fesa).A cewar International Organisation for Standardization (ISO) Masana'antu Machines Man an ayyana shi a matsayin daidaitaccen mutum-mutumin walda, robot ɗin masana'antu nau'i ne mai dacewa, mai iya shirye-shirye, mai sarrafa sarrafa kansa (Manipulator) tare da gatari uku ko fiye da za a iya tsarawa don sarrafa masana'antu.Don ɗaukar nau'ikan amfani daban-daban, madaidaicin robobin na ƙarshe yana da na'ura mai haɗawa, yawanci flange mai haɗawa, wanda za'a iya sawa da kayan aiki daban-daban ko na'urorin kunnawa na ƙarshe.Robots ɗin walda mutum-mutumi ne na masana'antu waɗanda flanges ɗin axis na ƙarshe an saka su da walƙiya ko walda (yanke) bindigu ta yadda za a iya yin walda, yanke ko fesa su da zafi.

Tare da haɓaka fasahar lantarki, fasahar kwamfuta, sarrafa lambobi da fasahar mutum-mutumi, mutummutumi na walda ta atomatik, tun daga shekarun 1960 da aka fara amfani da shi wajen kera, fasaharsa ta ƙara girma, galibi tana da kamar haka.abũbuwan amfãni:

1) Tsaya da haɓaka ingancin walda, na iya nuna ingancin walda a cikin nau'i na lambobi;

2) Inganta yawan aiki;

3) Inganta ƙarfin aiki na ma'aikata, na iya yin aiki a cikin wurare masu cutarwa;

4) Rage buƙatun don ƙwarewar aiki na ma'aikata;

5) Rage sake zagayowar shirye-shiryen gyare-gyaren samfur da canji, rage saka hannun jari na kayan aiki daidai.

Don haka, a kowane fanni na rayuwa an yi amfani da shi sosai.

Robot ɗin walda ya ƙunshi sassa biyu: mutum-mutumi da kayan walda.Mutum-mutumi ya ƙunshi jikin mutum-mutumi da ma'aikatun sarrafawa (hardware da software).Kayan aikin walda, ɗaukar walda na baka da walƙiya tabo a matsayin misali, sun haɗa da samar da wutar lantarki (ciki har da tsarin sarrafa sa), mai ba da waya (arc waldi), bindigar walda (ƙuƙwalwa) da sauransu.Ga mutummutumi masu hankali, ya kamata kuma a sami tsarin ganowa, kamar Laser ko na'urar firikwensin kyamara da sarrafa su.

Zane-zane na walda

Robots ɗin walda da ake samarwa a duk faɗin duniya, mutum-mutumi ne na haɗin gwiwa, mafi yawansu suna da gatari shida.Daga cikin su, 1, 2, 3 axes na iya aika kayan aiki na ƙarshe zuwa wurare daban-daban na sararin samaniya, yayin da 4, 5, 6 axis don magance bukatun daban-daban na matsayi na kayan aiki.Akwai manyan nau'o'i biyu na tsarin injiniya na jikin mutum-mutumi na walda: ɗayan tsarin layi ɗaya ne ɗayan kuma tsarin gefe-saka (swing).Babban fa'idar tsarin da aka ɗora a gefe (swing) shine babban kewayon ayyuka na sama da ƙasa, wanda ke ba da damar wurin aiki na mutum-mutumi don isa kusan fage.A sakamakon haka, na'urar na iya yin aiki da juye-juye a kan tarkace don adana sararin ƙasa da sauƙaƙe kwararar abubuwa a ƙasa.Koyaya, wannan mutum-mutumin da ke gefe, gatari 2 da 3 don tsarin cantilever, yana rage taurin ɗan adam, gabaɗaya ya dace da ƙananan robobin lodi, don walda, yanke ko fesa.The parallelogram mutum-mutumi na hannun sama yana tuƙa da lefa.Lever yana samar da ɓangarorin biyu na daidaici tare da hannun ƙasa.Don haka suna.Farkon haɓakar filin aikin mutum-mutumi na daidaici kaɗan ne (iyakance ga gaban mutum-mutumi), yana da wahala a rataya aikin juye-juye.Sai dai kuma, sabon robobin na’ura mai kama da juna (parallel robot) da aka kirkira tun daga karshen shekarun 1980, ya sami damar fadada wurin aiki zuwa sama da baya da kasa na mutum-mutumi, ba tare da taurin na’urar aunawa ba, don haka an mai da hankali sosai.Wannan tsarin ya dace ba kawai don haske ba har ma da mutummutumi masu nauyi.A cikin 'yan shekarun nan, tabo mutum-mutumin walda (nauyin kilogiram 100 zuwa 150) galibi suna zaɓar tsarin ƙirar mutum-mutumi.

Ana amfani da kowanne daga cikin ramukan robobi biyu na sama don motsi, don haka motar servo tana motsa ta ta hanyar injin allura (RV) mai ragewa (axes 1 zuwa 3) da mai rage jituwa (gatura 1 zuwa 6).Kafin tsakiyar shekarun 1980, robobi masu amfani da wutar lantarki suna amfani da injin DC servo, kuma tun daga karshen shekarun 1980, kasashe sun canza zuwa injin AC servo.Saboda AC Motors ba su da carbon goge, mai kyau tsauri halaye, sabõda haka, da sabon robot ba kawai low hadarin rate, amma kuma kula-free lokaci ya karu sosai, da (rage) gudun kuma yana da sauri.Wasu sabbin na'urori masu nauyi masu nauyi tare da nauyin ƙasa da kilogiram 16 suna da matsakaicin saurin motsi fiye da 3m/s a wurin cibiyar kayan aikin su (TCP), madaidaiciyar matsayi da ƙarancin girgiza.A lokaci guda kuma, ma'aikatar kula da na'urar ta robot ta yi amfani da na'urar microcomputer mai nauyin 32-bit da kuma sabon algorithm, ta yadda zai kasance yana da aikin inganta hanyar da kanta, yana tafiyar da yanayin kusa da yanayin koyarwa.

musamman

Gyara Murya

Wuraren walda ba ya da matukar wahala a kan robobin walda.Domin walƙiya tabo kawai yana buƙatar sarrafa maki, amma ga walda tsakanin batu da yanayin motsi ba ƙaƙƙarfan buƙatu ba ne, wanda shine robot za a iya amfani da shi kawai don walƙiya tabo a farkon dalili.Spot walda robot ba wai kawai yana da isasshen nauyin nauyi ba, amma kuma a cikin saurin juyawa-zuwa-aya yana da sauri, aikin yakamata ya zama santsi, matsayi ya zama daidai, don rage lokacin motsi, ɗagawa.

Babban yawan aiki.Nawa ƙarfin ƙarfin da mutum-mutumi na walda tabo ke buƙata ya dogara da nau'in matsin walda da ake amfani da shi.Domin walda walda da aka raba da tasfoma, nauyin mutum-mutumi mai nauyin kilogiram 30 zuwa 45 ya wadatar.Duk da haka, a gefe ɗaya, irin wannan nau'i na walda yana faruwa ne saboda dogon layin na USB na biyu, asarar wutar lantarki yana da yawa, ba ya da amfani ga na'ura na robot don walda walda a cikin kayan aiki, a daya bangaren kuma. , Layin kebul yana jujjuyawa tare da motsi na robot, lalacewar kebul yana da sauri.Saboda haka, amfani da hadedde walda filan yana karuwa a hankali.Wannan mannen walda, tare da na'ura mai ɗaukar nauyi, yana da nauyin kimanin kilogiram 70.Idan aka yi la'akari da cewa robot ɗin ya kamata ya sami isasshen ƙarfin lodi, welded filan zuwa sararin samaniya don walda a babban hanzari, ana zaɓe na'urori masu nauyi masu nauyi masu nauyin kilogiram 100 zuwa 150 gabaɗaya.Domin saduwa da buƙatun na gajeren nisa m gudun hijira na weld clamps a lokacin ci gaba da tabo waldi.Sabon mutum-mutumi mai nauyi yana ƙara ikon kammala ƙaura 50mm a cikin 0.3s.Wannan yana ƙaddamar da buƙatu mafi girma don aikin motar, saurin kwamfuta da algorithm na microcomputer.

Tsarin tsari

Gyara Murya

Saboda zane na walda robot yana cikin jirgin sama, kunkuntar yanayin sararin samaniya, don tabbatar da cewa robot zai iya bin diddigin walda na walda bisa ga karkatacciyar bayanin na'urar firikwensin baka, robot ya kamata a ƙera ƙaramin motsi mai sassauƙa. kuma barga aiki.Dangane da halaye na kunkuntar sararin samaniya, an ƙera wani ɗan ƙaramin mutum-mutumi na walda ta hannu, bisa ga halayen motsi na kowane tsarin na robot, ta amfani da hanyar ƙira, injin ɗin robot ya kasu kashi uku: dandamalin wayar hannu mai motsi, mai daidaita wutar lantarki da wutar lantarki. firikwensin baka.Daga cikin su, wheeled mobile dandamali saboda ta inertia, jinkirin mayar da martani, yafi a kan weld m tracking, da fitilu daidaita inji ne alhakin daidai tracking na weld, baka firikwensin don kammala walda sabawa real-lokaci ganewa.Bugu da ƙari, an haɗa na'urar sarrafa mutum-mutumi da direban motar akan dandamalin wayar hannu na mutum-mutumi, yana mai da shi ƙarami.A lokaci guda, don rage tasirin ƙura akan sassa masu motsi a cikin yanayin walda mai tsauri, ana amfani da cikakken tsarin da aka rufe don inganta amincin.^oftsarinta.

kayan aiki

Gyara Murya

Kayan aikin walda na robot ɗin walda, saboda amfani da haɗaɗɗen walda, injin walda da aka sanya a bayan walda, don haka injin ɗin dole ne ya zama ƙanƙanta gwargwadon yiwuwar.Ga masu karami na iya amfani da mitar AC mai karfin 50Hz, kuma ga masu tafsiri masu girma, an yi amfani da fasahar inverter don canza mitar AC na 50Hz zuwa 600 zuwa 700Hz AC, ta yadda za a rage girman na’urar.Bayan matsa lamba mai canzawa zai iya zama kai tsaye tare da walda AC na 600 zuwa 700Hz, kuma ana iya sake gyara shi, tare da walda kai tsaye.Ana daidaita sigogin walda ta mai ƙidayar lokaci.An ƙididdige sabon ƙidayar ƙididdiga, don haka majalisar sarrafa mutum-mutumi za ta iya sarrafa mai ƙidayar lokaci kai tsaye ba tare da buƙatar ƙarin hanyar sadarwa ba.Spot walda robobin walda filan, yawanci tare da pneumatic walda filan, pneumatic walda filan tsakanin biyu electrodes na bude digiri gaba daya bugun biyu ne kawai.Kuma da zarar an daidaita matsa lamba na lantarki, ba za a iya canza shi yadda ake so ba.A cikin 'yan shekarun nan, wani sabon nau'in kayan walda na servo tabo na lantarki ya bayyana.Motar servo ce ke tafiyar da buɗewa da rufe filayen walda, kuma bayanin farantin lambar yana ba da damar buɗe filan ɗin ba da gangan ba kuma a saita shi bisa ga ainihin buƙatu.Kuma ana iya daidaita ƙarfin matsa lamba tsakanin na'urorin lantarki ba tare da mataki ba.Wannan sabon wutar lantarki servo spot welder yana da fa'idodi masu zuwa:

1) Za'a iya rage zagayowar walda na kowane batu na walda, saboda matakin buɗewa na waldawa ana sarrafa shi daidai ta hanyar robot, robot tsakanin ma'ana da ma'anar aiwatar da motsi, walda na iya fara rufewa;

2) Za'a iya daidaita madaidaicin madaidaicin walda bisa ga yanayin aikin aikin, muddin babu wani karo ko tsangwama don rage girman matakin buɗewa, don adana matakin buɗewa na matse walda, domin don adana lokacin da aka shagaltar da su ta hanyar buɗewa da rufe mannen walda.

3) Lokacin da aka rufe maƙallan walda da matsa lamba, ba wai kawai girman matsa lamba ba za'a iya daidaitawa, amma kuma idan an rufe, ana rufe na'urorin lantarki a hankali, rage tasirin tasiri da amo.

Spot walda robot FANUC R-2000iB

Aikace-aikacen walda

gyara