Werohanga niao manipulator karetao ahumahi nekeneke rongoā peia

He manipulator, he tohu werohia
he miihini whakakikorua i whakatapua ko tetahi waahanga o te kaha ki te peehi i nga mahi o runga o te tinana o te tangata, ka taea te whakahaere aunoa i nga hua, i nga taputapu whakahaere ranei i runga i nga whakaritenga kua whakaritea mo te mahi o nga taputapu whakaputa aunoa. Ko te werohanga o te manipulator he mea motuhake mo te miihini miihini miihini whakangao, ka taea te whakaiti i nga mahi a-ringa, te whakapai ake i nga tikanga mahi me te haumaru i roto i te whakaputa; Whakanuia te hua o te miihini werohia, te kounga o te hua, te whakaheke i te reiti mokamoka, te whakaheke i te utu whakaputa, te whakarei ake i te whakataetae o nga umanga he mahi tino nui.
mihini werohia whaanui i whakatapua e te punaha whakahaere, te punaha taraiwa me te punaha whakahaere, me etahi atu



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i roto i tenei pepa, te punaha servo manipulator i roto i te tono o te ringa miihini triaxial. Ko

nga momo punaha whakahaere a te PLC ko te nuinga o nga momo punaha whakahaere, he mana pupuri kaari kaari, he punaha whakahaere motuhake. Mo te aratau mana, te mana o te pupuhi matua, te mana tairitenga, te mana pahi. Ko te manipulator tuaka-maha te whakahaere pahi ko te ia whanaketanga.
pūnaha puku: (Na, ki runga, ki raro, arahi ki te waea): whai i te pneumatic, inverter, servo puku momo pūnaha te nuinga. Ko te taraiwa Servo kia mohio ki te mana o te kopae kati, he teitei ake te tika, he tere ake, ko te punaha manipulator puku rongonui.
Ko te punaha whakahaere he kaari mana whakahaere pukapuka, whakaako te kawenga mo te whakamahere huarahi, te aro turuki, te whakamaoritanga, me etahi atu. Tikanga whakahaere mo te ahunga pupuhi. Te pikitia tinana o te manipulator werohanga tuaka 2.
Ko te punaha taraiwa he punaha servo, ko te whakahau PC whakautu, he kawenga mo te mana nekehanga tuaka whakawhiti, ko te mana servo he 750 w, me te 5 atu i te whakaiti. Rezai ringa matua matua, 1000 w, ki te 5 atu whakaiti.
peia taputapu whakaiti (Cuhk reducer)Me te wīra puku, awhe tuaka whakawhiti o 1. 5m。


3, werohanga manipulator nekeneke peia whakaritenga matua
(1) pū High: L5 servo 17 encoder i roto i te hanganga miihini i raro i te tikanga noa nui ki te kī tūnga pū o te manipulator. Kati i te wa ki te tome mahi pehi wiri, tūnga pū.
(2)Super pūmautanga: i werohia mīhini niao mahi kore-mutu mo te manipulator e kore e taea te taka, ka pa ki te hanga wheketere, motini, puku me kaha ki te mahi u, he iti te he. Ko te L5 servo he mahi pumau i te waahi o te miihini werohanga. Ko nga mahi e whakaatu ana ko te kounga servo e tika ana kia whakawhirinaki.
(3)Ati-porearea: miihini werohia te miihini ki te taiao hiko uaua i runga i te waahi, te aukati i te aukati, me whakarite te taraiwa kia tika te tuunga o te tuunga.
(4) Te kaha o te mahi: he miihini tere tere pahi te servo, na roto i te algorithm motuhake te whakapai ake i te tere o te motuka hei whakarite i te huringa mahi manipulator ki te whakatutuki i nga whakaritenga a nga kaihoko.



4, werohia manipulator ia rakau nekeneke peia
nga whainga nui e whai ake nei mo te toru axial werohia manipulator tikanga whānui o te whakamahi, ki te haere tonu ki te whakapai ake i te tere ranei whakaiti i te wa whakapōrearea, ka tukuna te puku ki te taumahatanga, papua ranei te ngaohiko teitei arahina ki te hē
retrogradation taputapu ātete rite te katoa: auau tīmata-mutu, wa whakapōreareatanga iti, tere tere, me te wa poto oma, ka mutu te oma, nekeneke, ka mutu te oma, neke atu i te wa poto. wiri.
huringa mahi: 5 -6 s
tuaka whakawhiti; Whakauruhia te motuka servo o 750 w + 1: 5 te whakaheke i roto i te taraiwa whitiki, he tino nui te waa o te inertia.
runga me te tuaka raro: tango nekeneke servo o 400 w + 1:5 whakaiti i roto i te tuku whitiki.
te tuaka mata: toia te tauira motini servo o 400 w + 1:5 whakahekenga i roto i te whitiki taraiwa te wa whakapoipoi:
oma 200 -500 ms
te wa whakapoipoi o runga me te raro: 150 -300 ms
te wa whakapoipoi o te rakau: toia - 150Te tere teitei 300 ms
: 3000 ms : RPM.
tika wāhi: 0. 5 mm


5, te kaupapa āhuatanga:
1, te momo pahi encoders pū teitei: 5 hononga raina, anti-jamming, waea watea; Ko te encoder taumira teitei, te whakarite i te tika o te tuunga o te manipulator.
2, momeniti o te inertia identification: e tika ana mo te whitiki, penei i te waea waea manipulator whakamahia ara tuku; Ko te mana whakaahuru taipana tika, he pai ake te mahi hihiri.
3, tawhā-whaiaro tawhā: tawhā rangi aunoa, ki te whakapai ake i te katoa mahi manipulator.
4, kaha te mahi whakakore wiri wiri: ka taea te whakakore i te oscillating miihini i te mutunga; He maha nga huinga tātari kakari hei whakakore i te resonance miihini. :
5, i whakapumautia te reanga tuarua o te tauira tawhā pūnaha servo algorithm, te whakatinanatanga o nga tohutohu tuunga teitei i muri i te mahi.
6, kaha me te ngawari ki te whakamahi i te rorohiko rorohiko: te whakatika tawhā whakauru; Te kitenga hapa noa penei i te over-current, over-voltage me te taumahatanga; Te tauira o te waahi, te tere me nga korero o naianei.


6, tono whakatau:
1, te wha tonotono servo tukanga patuiro māmā, kawe pai, te pānga o te pai kiritaki, mahi e taea te whakarite ki te nekeneke servo kawemai.
2, 4 tonotono servo i runga i te maakete mo te neke atu i te kotahi tau, tae noa ki tenei wa kaore e puta te he o te servo, te pono e mohiotia ana e nga kaihoko ahumahi.
3, wha tonotono servo utu-whai hua, whakapono e ka kawea atu ohorere ki kiritaki hou, me te tawhito.
4, wha tonotono servo ki te whakarongo ki te hiahia o te kiritaki, whakautu tere, te āwhina kiritaki tauira hou tamata patuiro, tono kiritaki mō te mahi whakapai ake hua mahi me te wa.
ko nga hua matua: te motini hiko, te motika paraihe, te motika servo, te motika hiko, te motini parai, te motini raina me etahi atu momo tauira o te motuka hiko, nau mai ki te patai. Waea: