Umuyoboro muremure Umurongo Module

Umuyoboro muremure uremereye Module nigikoresho cyogukwirakwiza neza cyashizweho kugirango gihangane n'imitwaro iremereye, gishobora kugera kumurongo uhamye kandi utomoye mugihe cyimitwaro myinshi. Nibintu byingenzi bigize uburyo bwo kwimura umurongo wimitwaro iremereye mu gutangiza inganda. Ikintu nyamukuru kiranga Modire Yumurongo Mucyo ni ukugira umutwaro - ufite ubushobozi burenze kure ubw'amasomo asanzwe (ubusanzwe ufite imizigo yagereranijwe kuva ku kilo amagana kugeza kuri toni mirongo), mugihe kandi iringaniza urwego runaka rwukuri kandi rukomeye.

Ihame ryakazi rya Moderi Yumurongo Mucyo uhuza nubusanzwe busanzwe bwumurongo, bushingiye kuburyo bwo "guhinduranya umurongo" uburyo bwo guhinduranya: gukoreshwa na moteri itwara ibinyabiziga (cyane cyane moteri ya servo), icyerekezo cyo guhinduranya gihindurwamo umurongo unyuze mumipira yumupira (ukunda ibintu byinshi biremereye) cyangwa umukandara uremereye -; Sisitemu yo kuyobora (nkibiremereye - umurongo uyobora umurongo hamwe nuyobora kare) ikwirakwiza imizigo binyuze mu guhuza - ingingo nyinshi, ikemeza neza inzira igenda mugihe irwanya ibihe byo guhirika no gukomeza ibikorwa bikomeye.

Mu buryo bwubaka, umutwaro muremure umurongo modules ushimangira hejuru - igishushanyo mbonera:

Igice cyo gutwara ibinyabiziga bifata imipira minini - ya diametre (ikibuga gikunze kuba kinini cyangwa kingana na 10mm) cyangwa imikandara ikomatanyirijwe hamwe, ihujwe na moteri ya -;

Igice kiyobora gifata ibyuma biremereye - (nkumurongo ine wumurongo wumupira), hamwe nigice kinini cyo guhuza hagati ya slide na gari ya moshi, hamwe nuburemere bukomeye -;

Urufatiro rukozwe mubyuma bikikijwe cyane cyangwa ibyuma, kandi moderi zimwe zishimangirwa nimbavu kugirango zongere imbaraga muri rusange;

Ibice bifasha birimo umukungugu wibyuma hamwe na - imbaraga zigabanya imbaraga, zikwiranye nibidukikije bikaze nkumukungugu no kunyeganyega.

Hano, turamenyekanisha Modire Yumurongo Mumurongo, TMK150 kubidukikije rusange cyangwa umukungugu utagira umukungugu cyangwa udakoresha amazi hamwe namakuru akurikira:
Urahawe ikaze kureba imishinga myinshi cyangwa gusura amashusho yacu ya Youtube: https://www.youtube.com/@tallmanrobotics

Porogaramu ssenariyo ya High Load Linear Module yibanze murwego rwumutwaro uremereye:
Inganda ziremereye: fagitire y'ibyuma itanga ibikoresho bya metallurgji, ibiryo bikora kubikoresho biremereye - ibikoresho byimashini;
Ububiko bwa Logistique: buremereye - crane stacker crane hamwe nibikoresho byo gutwara ibyambu kububiko bwikora butatu - ububiko bwuzuye;
Gukora ibinyabiziga: biremereye - ibisobanuro byimikorere yumurongo wo gusudira umubiri;
Ikirere: Guhindura imyanya yibikoresho binini byo guteranya.

Ugereranije na modules yoroheje, Module Yumutwaro Mucyo utanga umuvuduko runaka (mubisanzwe Ntibiri munsi cyangwa bingana na 1m / s) hamwe nibiranga uburemere buke muguhindura ubushobozi bwimitwaro myinshi hamwe ningaruka zo guhangana ningaruka, bigatuma iba intandaro yo kohereza ibintu biremereye - byimikorere yumurongo utanga umusaruro.

Nigute ushobora guhitamo umutwaro muremure wumurongo ujyanye no gusaba kwawe?
Guhitamo Umuyoboro muremure uhuza Module ikwiranye na progaramu isaba bisaba ubushishozi bwuzuye bushingiye ku bipimo fatizo byimikorere nyayo yibikorwa, ibidukikije, hamwe nigihe kirekire - igihe cyo gukoresha. Intambwe zihariye zirashobora gusesengurwa kuburyo bukurikira:

1.Sobanura neza ibikenewe byumutwaro
Umutwaro nicyo kimenyetso cyambere cyo gutoranya, kandi birakenewe kubara neza uko ibintu byifashe:
Umutwaro wagenwe: Hitamo icyitegererezo gifite umutwaro uringaniye Kurenza cyangwa bingana ninshuro 1,2 umutwaro wuzuye ushingiye kumutwaro uhagaze (nkuburemere bwibikorwa byakazi) hamwe numutwaro uremereye (nkimbaraga za inertia mugihe cyo kwihuta / kwihuta) mugihe cyo gukora (hamwe numutekano wateganijwe kugirango wirinde igihe kirekire - ibikorwa byuzuye bitwara ubuzima bugenda bugabanuka).
Ingaruka yumutwaro nigihe cyo guhirika: Niba hari imbaraga zingaruka ako kanya (nko kugongana mugihe cyo gutwara) cyangwa umutwaro wa cantilever (nkumutwe umwe wa module ifite uburemere), hagomba kwitabwaho cyane kurwego rwo guhangana ningaruka za module hamwe nubushobozi bwo gutesha agaciro (reba umwanya wo guhindura umurongo utangwa nuwabikoze). Kurugero, ibikoresho bya kontineri yimashini yicyambu bigomba kwibanda kubirwanya ingaruka, mugihe cantilever igaburira ibikoresho byimashini igomba gushimangira igishushanyo mbonera.

2.Huza ibipimo byerekana ibyangombwa
Akayunguruzo ukurikije umuvuduko, kwihuta, nibisabwa byurugendo rwakazi:
Umuvuduko no kwihuta: Umuvuduko wimitwaro iremereye mubisanzwe ni munsi cyangwa ihwanye na 1m / s. Niba hejuru - inshuro nyinshi gutangira guhagarara bisabwa (nko mumurongo wibyakozwe byikora), kwihuta kwinshi (muri rusange Ntibiri munsi cyangwa bingana na 5m / s ²) bigomba kwemezwa kugirango wirinde kwambara ibice byanduza bitewe nimbaraga zidasanzwe.
Uburebure bwurugendo: Hitamo ukurikije intera nyayo igenda, kandi wibuke ko kuburugendo rurerure (nka Kurenza cyangwa bingana na metero 3) module, gukomera kwibanze bigomba kwitabwaho kugirango wirinde gutandukana bitewe nuburemere bwawe; Bamwe mubakora ibicuruzwa byinshi biremereye bitanga uburyo bwo gutondeka bushobora guhura nibisabwa intera ndende ndende, ariko igihombo cyukuri kuri spice point kigomba gusuzumwa.

3.Gena ibipimo nyabyo no gukomera
Ibisabwa byuzuye bigira ingaruka ku buryo butaziguye igiciro cyo gutoranya, kandi bigomba gucirwa urubanza hashingiwe ku gusaba:
Umwanya uhagaze neza kandi usubirwamo:
Niba ikoreshwa muguteranya neza (nkibikoresho byo mu kirere docking), birakenewe guhitamo icyitegererezo gifite aho gihurira na munsi ya 0.02mm hamwe no gusubiramo umwanya uhagije uri munsi ya cyangwa munsi ya 0.01mm (mubisanzwe uhujwe na ball ball ball + servo moteri ifunze - kugenzura);
Niba ikoreshwa gusa mubintu biremereye (nko kubika ububiko), umwanya uhagaze neza uri munsi ya 0.1mm cyangwa uhagije kugirango uhuze ibisabwa.
Rigidity: Gukomera kwinshi Kumurongo wo hejuru (nk'ibyuma bikozwe mu cyuma hamwe na gari ya moshi ziyobowe na gari ya moshi) birashobora kugabanya guhindura ibintu munsi yumutwaro kandi birakwiriye kuri ssenariyo isabwa cyane kugirango ibintu bigende neza (nk'ibikoresho biremereye -) Niba imiterere yakazi itumva neza guhindagurika (nko kwihuta - gufata umuvuduko), igishushanyo cyoroheje kandi gikomeye (nka aluminium alloy + imbavu zishimangira imbavu).

4.Kwemeza kwishyiriraho no kugabanya umwanya, kandi wemeze guhuza imiterere ukurikije - imiterere yo gushiraho urubuga:
Umwanya wo kwishyiriraho: Ibipimo byo kwishyiriraho ibikoresho byo gupima ni bike (uburebure, ubugari, uburebure), kandi ingano ya module ijyanye nayo yatoranijwe (nkibishushanyo mbonera bibereye ahantu hato, igishushanyo gisanzwe kibereye imiterere ifunguye).
Icyerekezo cyo kwishyiriraho: Mugihe ushyizeho utambitse, hagomba kwitonderwa uburinganire bwumutwaro wa - ubushobozi bwo gutwara; Kwishyiriraho bihagaritse (nko guterura ibintu biremereye) bisaba ibikoresho byongeweho feri (kugirango wirinde umuriro no kugwa); Ubushobozi bwo gutwara imitwaro ya gari ya moshi ikeneye kwemezwa kugirango ushireho.
Guhuza Imigaragarire: Menya neza ko interineti ya moteri (nka moteri ya servo moteri, itumanaho rya protocole) hamwe na sensor ya interineti (nka limit limit, encoder) ya module ihuye na sisitemu yo kugenzura iriho kugirango wirinde amafaranga yo guhindura.

5.Gusuzuma imihindagurikire y’ibidukikije
Ibidukikije bigira ingaruka ku buryo butaziguye igihe cyamasomo kandi bisaba kugenzura neza ibidukikije
Scenarios ifite urugero rwinshi rwumukungugu / amavuta (nka metallurgie nogutunganya imashini): Hitamo icyitegererezo gifite umukungugu wuzuye wuzuye (ibikoresho byicyuma) hamwe nigishushanyo mbonera cyo kurwanya umwanda hamwe namavuta ya gari ya moshi;
Ibidukikije bitose / byangirika (nko gutunganya ibiryo, inganda zikora imiti): hitamo ibyuma bidafite ibyuma biyobora gari ya moshi + anti - shitingi;
Ibidukikije byo hejuru cyane (nk'amahugurwa ya casting): Birakenewe kwemeza urugero ntarengwa rwo kurwanya ubushyuhe bwa moteri na gari ya moshi iyobora (mubisanzwe Birarenze cyangwa bingana na dogere 80, moderi zidasanzwe zishobora kugera kuri dogere 150).

6.Kuringaniza ibiciro nibikenewe byo kubungabunga
Igiciro cyambere: Igiciro cya Moderi Yumurongo Mucyo wiyongera hamwe nuburemere, busobanutse, nibikoresho (nkicyuma cyerekana ibyuma + imipira yerekana imipira ihenze 30% -50% ihenze kuruta aluminium alloy + imikandara ya syncronique), kandi ingengo yimari igomba kugenzurwa hashingiwe kubisabwa kugirango huzuzwe ibisabwa.
Kubungabunga igihe kirekire: Niba ibintu bisabwa bigoye guhagarika kenshi (nkumurongo utanga umusaruro), hagomba gushyirwa imbere kubungabunga gari ya moshi ziyobora kubuntu (nko kwikorera - amavuta yo kwisiga) hamwe nu mashanyarazi maremare - (nk'ibikoresho bikomeretsa bikomeye, hamwe nigihe cyo kubaho cyamasaha arenga 10000).

Mugihe uhitamo, ibyingenzi birashobora kugenzurwa buhoro buhoro ukurikije "umutwaro parameter ibipimo byerekana → ukuri → ibidukikije → igiciro". Nibiba ngombwa, tanga ibipimo ngenderwaho (nk'ubunini bw'imizigo, uruziga rw'ibizunguruka, amafoto y'ibidukikije) hanyuma uvugane n'itsinda rya tekiniki ryakozwe kugirango ugenzure imiterere ihindagurika ukoresheje ibizamini byo kwigana cyangwa gupima icyitegererezo, kugirango wirinde kunanirwa kw'ibikoresho biterwa no guca imanza nabi.