Robots ịgbado ọkụ bụ rọbọtị arụ ọrụ na-arụ ọrụ ịgbado ọkụ (gụnyere igbutu na ịgba).Dị ka International Organisation for Standardization (ISO) Industrial Machines Man ka akọwara dị ka ọkọlọtọ ịgbado ọkụ robot, ụlọ ọrụ robot bụ a vasatail, programmable, akpaka akara onye ọrụ (Manipulator) na atọ ma ọ bụ karịa programmable axes maka ulo oru akpaaka.Iji nabata ojiji dị iche iche, ogwe ikpeazụ nke rọbọt nwere ihe eji arụ ọrụ, na-abụkarị flange njikọ, nke enwere ike itinye ya na ngwa dị iche iche ma ọ bụ ihe nrụpụta njedebe.Robot ndị na-agbado ọkụ bụ rọbọt arụpụtara arụ ọrụ nke flange ikpeazụ ha nwere ihe nkwụnye ịgbado ọkụ ma ọ bụ egbe ịgbado ọkụ ka e wee nwee ike ịgbanye, bee ma ọ bụ fesa ha ọkụ.

Site na mmepe nke teknụzụ eletrọnịkị, teknụzụ kọmputa, njikwa ọnụọgụ na teknụzụ robotics, robots ịgbado ọkụ na-akpaghị aka, ebe ọ bụ na 1960 malitere iji na-emepụta ihe, teknụzụ ya na-etowanye eto, ọkachasị nwere ihe ndị a.uru:

1) Kwado ma melite ogo ịgbado ọkụ, nwere ike igosipụta àgwà ịgbado ọkụ n'ụdị ọnụọgụ;

2) kwalite mmepụta ọrụ;

3) Meziwanye ike ọrụ nke ndị ọrụ, nwere ike ịrụ ọrụ na gburugburu ebe ndị na-emerụ ahụ;

4) Belata ihe achọrọ maka nkà ịrụ ọrụ nke ndị ọrụ;

5) Mbelata usoro nkwadebe nke mgbanwe ngwaahịa na mgbanwe, belata ntinye ego akụrụngwa kwekọrọ.

Ya mere, n'akụkụ nile nke ndụ ejirila ọtụtụ ebe.

Robot ịgbado ọkụ gụnyere akụkụ abụọ: rọbọt na akụrụngwa ịgbado ọkụ.Robot ahụ nwere ahụ robot na kọbọd njikwa (ngwaike na ngwanrọ).Ngwa ịgbado ọkụ, na-ewere arc ịgbado ọkụ na ntụpọ ịgbado ọkụ dị ka ihe atụ, na-emi esịnede nke ịgbado ọkụ ike ọkọnọ (gụnyere ya akara usoro), waya feeder (arc ịgbado ọkụ), ịgbado ọkụ egbe (mwekota) na na.Maka rọbọtị ndị nwere ọgụgụ isi, ekwesịrị inwe sistemu mmetụta, dị ka laser ma ọ bụ ihe mmetụta igwefoto na njikwa ha.

Ihe osise robot ịgbado ọkụ

Robots ịgbado ọkụ ndị a na-emepụta n'ụwa niile bụ ndị rọbọt jikọrọ ọnụ, ihe ka n'ọnụ ọgụgụ n'ime ha nwere anyụike isii.N'ime ha, 1, 2, 3 axes nwere ike izipu ngwá ọrụ njedebe na ọnọdụ oghere dị iche iche, ebe 4, 5, 6 axis iji dozie ihe dị iche iche chọrọ nke ọnọdụ ngwá ọrụ.E nwere isi ihe abụọ dị iche iche nke n'ibu Ọdịdị nke ịgbado ọkụ robot ahu: otu bụ a parallelogram Ọdịdị na nke ọzọ bụ akụkụ-ndokwasa (swing) Ọdịdị.Isi uru dị n'akụkụ akụkụ (swing) na-arụ ọrụ bụ nnukwu ihe omume nke ogwe aka elu na nke dị ala, nke na-enyere ohere ọrụ nke robot aka iru ihe fọrọ nke nta ka ọ bụrụ oghere.N'ihi ya, rọbọt ahụ nwere ike ịrụ ọrụ n'akụkụ elu n'elu ihe mkpuchi iji chekwaa oghere ala ma mee ka ihe ndị dị n'ala dị mfe.Otú ọ dị, a n'akụkụ-ndokwasa roboti, 2 na 3 axes maka cantilever Ọdịdị, ibelata stiifness nke robot, n'ozuzu adabara obere ibu robots, maka arc ịgbado ọkụ, igbutu ma ọ bụ spraying.Ogwe aka elu nke robọt ihe yiri ya ka ọ na-anya ya.Ihe nleba ahụ na-eme akụkụ abụọ nke ihe nrịbama na ogwe aka ala.Ya mere aha ya.Mmepe mmalite nke parallelogram robot workspace dị obere (nke dị n'ihu nke robot), ọ na-esiri ike kwụgidere ọrụ ihu.Otú ọ dị, robot parallelogram ọhụrụ (robot yiri ya) mepụtara kemgbe afọ 1980 nwere ike ịgbatị oghere ọrụ ahụ n'elu, azụ na ala nke rọbọt ahụ, na-enweghị isi ike nke robot nha, ya mere a na-elebara ya anya.Ihe owuwu a dabara na ọ bụghị naanị maka ọkụ kamakwa maka igwe rọbọt dị arọ.N'ime afọ ndị na-adịbeghị anya, ntụpọ ịgbado ọkụ robots (ibu 100 na 150 n'arọ) na-ahọrọkarị robọtụ nhazi usoro parallelogram.

A na-eji nke ọ bụla n'ime oghere nke robots abụọ a dị n'elu mee ihe na-emegharị ahụ, ya mere, a na-eji moto servo na-ebugharị site na mgbanaka agịga swing (RV) (1 ruo 3 axes) na ihe nkwụsịtụ harmonic (1 ruo 6 axes).Tupu etiti 1980s, robots ndị na-anya ọkụ eletrik na-akwado site na DC servo Motors, na kemgbe ngwụcha afọ 1980, mba atụgharịala na moto AC servo.N'ihi na AC Motors enweghị carbon brushes, ezi ike ike e ji mara, nke mere na ọhụrụ robot bụghị naanị obere mberede ọnụego, kamakwa mmezi-free oge na-abawanye nke ukwuu, gbakwunyere (mwepu) ọsọ bụkwa ngwa ngwa.Ụfọdụ rọbọtị ndị dị fechaa ọhụrụ nwere ibu na-erughị kilogram 16 nwere oke ngagharị nke karịrị 3m/s n'ebe etiti akụrụngwa ha (TCP), ọnọdụ ziri ezi na ịma jijiji dị ala.N'otu oge ahụ, kabinet na-achịkwa nke robot na-ejikwa microcomputer 32-bit na algọridim ọhụrụ, nke mere na ọ nwere ọrụ nke ime ka ụzọ ahụ n'onwe ya dịkwuo mma, na-agba ọsọ na trajectory nso na trajectory nke nkuzi.

iche

Dezie olu

Ịgbado ọkụ n'otu ebe adịghị achọ ihe na rọbọt ịgbado ọkụ.N'ihi na ntụpọ ịgbado ọkụ naanị mkpa akara akara, dị ka maka ịgbado ọkụ pliers n'etiti isi na n'ókè nke ije trajectory bụghị siri ike chọrọ, nke bụ robot nwere ike na-eji maka ntụpọ ịgbado ọkụ na mbụ ihe mere.Robot ịgbado ọkụ, ọ bụghị naanị na ọ nwere ikike ibu zuru oke, kamakwa na ngbanwe ngbanwe nke isi na-aga ngwa ngwa, ihe omume kwesịrị ịdị nro, ọnọdụ kwesịrị ịbụ nke ziri ezi, iji belata oge ngbanwe, ebuli elu.

Nnukwu nrụpụta.Ego ole ikike rọbọtụ ịgbado ọkụ chọrọ dabere n'ụdị mgbachi ịgbado ọkụ ejiri.Maka ngwa ịgbado ọkụ ndị dịpụrụ iche na ndị na-agbanwe agbanwe, ibu rọbọt dị kilogram 30 ruo 45 zuru ezu.Otú ọ dị, n'otu aka ahụ, ụdị ịgbado ọkụ dị otú a bụ n'ihi ogologo eriri eriri nke abụọ, ike na-efunahụ dị ukwuu, ọ bụghị ihe na-eme ka robot na-agbanye ngwa ngwa ịgbado ọkụ n'ime ime nke workpiece, n'aka nke ọzọ. , eriri eriri na-agbanye na mmegharị robot, mmebi eriri na-agba ọsọ ngwa ngwa.Ya mere, iji ngwa ịgbado ọkụ agbakwunyere na-eji nwayọọ nwayọọ na-abawanye.Mwekota ịgbado ọkụ a, ya na transformer, nwere oke ihe dị ka kilogram iri asaa.N'iburu n'uche na rọbọt ahụ kwesịrị inwe ikike ibu zuru oke, a na-ahọrọ ngwa ngwa welded na oghere maka ịgbado ọkụ na nnukwu osooso, a na-ahọrọ roboti dị arọ nke nwere ibu 100 ruo 150 n'arọ.Iji zute ihe ndị a chọrọ n'ebe dị anya ngwa ngwa nke weld clamps n'oge ịgbado ọkụ na-aga n'ihu.Robot ọhụrụ dị arọ na-agbakwụnye ikike imecha nchụpụ 50mm na 0.3s.Nke a na-ebute ihe ndị dị elu chọrọ maka ịrụ ọrụ nke moto, ọsọ ọsọ na algọridim nke microcomputer.

Nhazi nhazi

Dezie olu

N'ihi na imewe nke ịgbado ọkụ robot dị na quasi-ụgbọ elu, warara oghere gburugburu ebe obibi, iji hụ na robot nwere ike soro ịgbado ọkụ nke weld dị ka deviation ozi nke arc sensọ, na robot kwesịrị ka emebere kọmpat, mgbanwe ije. na ọrụ kwụsiri ike.N'iburu n'uche njirimara nke oghere dị warara, a na-emepụta obere robot ịgbado ọkụ mkpanaka, dị ka njirimara mmegharị nke usoro ọ bụla nke robot ahụ si dị, na-eji usoro nhazi modular, a na-ekewa usoro robot n'ime akụkụ atọ: ikpo okwu mkpanaka wheeled, torch adjuster na ihe mmetụta arc.N'ime ha, wheeled mobile n'elu ikpo okwu n'ihi na ya inertia, ngwa ngwa nzaghachi, tumadi na weld siri ike nsuso, na ọwa mgbanwe usoro bụ maka kpọmkwem nsuso nke weld, arc sensọ mezue weld deviation ozugbo njirimara.Tụkwasị na nke ahụ, a na-ejikọta onye na-ahụ maka robot na onye ọkwọ ụgbọ ala n'elu ikpo okwu mkpanaka nke robot, na-eme ka ọ dị ntakịrị.N'otu oge ahụ, iji belata mmetụta nke uzuzu na akụkụ ndị na-akpụ akpụ na gburugburu ebe ịgbado ọkụ siri ike, a na-eji usoro mkpuchi zuru ezu iji meziwanye ntụkwasị obi.^ofusoro ya.

kwadebe

Dezie olu

Ngwá ọrụ ịgbado ọkụ nke robot ịgbado ọkụ ntụpọ, n'ihi na iji ngwa ịgbado ọkụ agbakwunyere, mgbado ọkụ arụnyere n'azụ ngwa ịgbado ọkụ, ya mere onye ngbanwe ga-adị obere ka o kwere mee.N'ihi na ndị nta mgbanwe nwere ike iji 50Hz ugboro AC, na ibu transformer, inverter technology e ji gbanwee 50Hz ugboro AC ka 600 ka 700Hz AC, nke mere na size nke transformer na-ebelata na ibelata.Mgbe mgbanwe nrụgide nwere ike ịbụ ozugbo na 600 ka 700Hz AC ịgbado ọkụ, nwekwara ike rectified, na DIRECT ịgbado ọkụ.A na-edozi paramita ịgbado ọkụ site na ngụ oge.Emeela igwe ihe ngụ oge ọhụrụ, yabụ kabinet njikwa robot nwere ike ijikwa ngụ oge na-enweghị mkpa mgbakwunye ọzọ.Ntụpọ ịgbado ọkụ robot ịgbado ọkụ ngwa ngwa, na-emekarị na pneumatic ịgbado ọkụ ngwa ngwa, pneumatic ịgbado ọkụ ngwa nju n'etiti abụọ electrodes nke oghere ogo bụ n'ozuzu nanị abụọ ọrịa strok.Ma ozugbo emeziri nrụgide electrode, ọ nweghị ike ịgbanwe ma ọ masịrị ya.N'ime afọ ndị na-adịbeghị anya, ụdị ọhụrụ nke eletrik servo ntụpọ ịgbado ọkụ apụtala.A na-eji moto servo na-ebugharị oghere na mmechi nke ngwa ịgbado ọkụ, na nzaghachi efere koodu na-enye ohere ka ahọpụtara oghere nke ngwa ngwa ngwa ngwa ma debe ya dịka mkpa dị n'ezie.Na nrụgide nrụgide n'etiti electrodes nwekwara ike gbanwee na-enweghị ogbo.Nke a ọhụrụ eletriki servo spot welder nwere uru ndị a:

1) The ịgbado ọkụ okirikiri nke ọ bụla ịgbado ọkụ ebe nwere ike dị ukwuu ibelata, n'ihi na ogo nke oghere nke ịgbado ọkụ ngwa ngwa na-kpọmkwem na-achịkwa robot, na robot n'etiti isi na isi nke ije usoro, ịgbado ọkụ ngwa ngwa nwere ike ịmalite imechi;

2) Enwere ike ịhazi ọkwa mmeghe nke mgbanaka ịgbado ọkụ dị ka ọnọdụ nke workpiece si dị, ọ bụrụhaala na ọ nweghị nkukota ma ọ bụ nnyonye anya iji belata ogo nke oghere, iji chekwaa oghere oghere nke mgbachi ịgbado ọkụ, ka iji chekwaa oge nke oghere na mmechi nke mwekota ịgbado ọkụ ji.

3) Mgbe a na-emechi welding clamps na nrụgide, ọ bụghị nanị na nrụgide nwere ike gbanwee, kamakwa mgbe emechiri emechi, a na-emechi electrodes nke ọma, na-ebelata nrụrụ mmetụta na mkpọtụ.

Robot ịgbado ọkụ FANUC R-2000iB

Ngwa ịgbado ọkụ

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