Iyo bigeze ku buryo ibyuma bifata amashanyarazi bigenzurwa, hari inzira nyinshi zitandukanye zo kugera kubikorwa byo gufata neza no kugenzura.Iyi ngingo izerekana uburyo busanzwe bwo kugenzura amashanyarazi, harimo kugenzura intoki, kugenzura porogaramu no kugenzura ibitekerezo bya sensor.
1. Kugenzura intoki
Igenzura ryintoki nimwe muburyo bwibanze bwo kugenzura.Mubisanzwe igenzura gufungura no gufunga ibikorwa bya gripper ukoresheje ikiganza, buto cyangwa switch.Igenzura ryintoki rirakenewe kubikorwa byoroshye, nko muri laboratoire cyangwa bimwe bito-bito.Umukoresha arashobora kugenzura urujya n'uruza rwa gripper binyuze muburyo bwo guhuza umubiri, ariko ntirubikora kandi neza.
2. Kugenzura gahunda
Igenzura ryateguwe nuburyo buhanitse bwo kugenzuraamashanyarazis.Harimo kwandika no gushyira mubikorwa gahunda zihariye zo kuyobora ibikorwa bya gripper.Ubu buryo bwo kugenzura bushobora gushyirwa mubikorwa binyuze mu ndimi za porogaramu (nka C ++, Python, nibindi) cyangwa software igenzura robot.Igenzura rya porogaramu ryemerera gripper gukora ibintu bigoye hamwe nibikorwa byumvikana, bitanga uburyo bworoshye bwo guhinduka no kwikora.
Igenzura rya porogaramu rishobora kandi gushiramo amakuru ya sensor hamwe nuburyo bwo gutanga ibitekerezo kugirango bishoboke gukora neza.Kurugero, porogaramu irashobora kwandikwa kugirango ihite ihindura imbaraga zo gufungura no gufunga cyangwa umwanya wa gripper ukurikije ibimenyetso byinjira hanze (nkimbaraga, igitutu, iyerekwa, nibindi).Ubu buryo bwo kugenzura bukwiranye nibisabwa bisaba kugenzura neza nibikorwa bigoye, nk'imirongo yo guteranya, umusaruro wikora, nibindi.
3. Kugenzura ibitekerezo bya Sensor
Kugenzura ibitekerezo bya Sensor nuburyo bukoresha sensor kugirango ubone imiterere ya gripper namakuru y’ibidukikije no gukora igenzura rishingiye kuri aya makuru.Ibyuma bisanzwe bikoresha imbaraga, ibyuma byerekana imbaraga, ibyuma byerekana imyanya, hamwe nicyerekezo.
Binyuze mu mbaraga za sensor, urwasaya rufata rushobora kumva imbaraga rukoresha kuri icyo kintu, kugirango imbaraga zifatika zishobora kugenzurwa.Ibyuma byerekana imbaraga birashobora gukoreshwa kugirango umenye igitutu cyo guhuza hagati ya gripper nigikoresho kugirango hafatwe neza kandi bihamye.Imyanya yimyanya irashobora gutanga umwanya nimyitwarire yamakuru ya gripper kugirango igenzure neza urujya n'uruza.
Icyerekezo cyerekezo kirashobora gukoreshwa mugutahura no kumenya ibintu bigenewe, bigafasha gukora byikora.Kurugero, nyuma yo gukoresha ibyuma byerekana icyerekezo cyo kumenya no kumenyekanisha, gripper irashobora kugenzura ibikorwa byo gufatira ukurikije umwanya nubunini bwikintu.
Igenzura rya Sensor rishobora gutanga amakuru nyayo nibitekerezo byamakuru kugirango
Ibi bifasha kugenzura neza imigenzereze ya gripper.Binyuze mu bitekerezo bya sensor, gripper irashobora kumva no gusubiza impinduka zibidukikije mugihe nyacyo, bityo igahindura ibipimo nko gukomera imbaraga, umwanya, n'umuvuduko kugirango ibikorwa bishoboke kandi byizewe.
Mubyongeyeho, hari uburyo bunoze bwo kugenzura bwo guhitamo, nkimbaraga / kugenzura umuriro, kugenzura inzitizi no kugenzura ibitekerezo.Igenzura / imbaraga za torque zituma igenzura neza imbaraga cyangwa itara ryakoreshejwe na gripper kugirango rihuze nibiranga n'ibikenerwa mubikorwa bitandukanye.Igenzura ryingutu ryemerera gripper guhindura ubukana bwayo hamwe nubwitonzi bushingiye kumihindagurikire yimbaraga zo hanze, ikemerera gukorana numuntu wumuntu cyangwa guhuza nibikorwa bitandukanye.
Igenzura ryibitekerezo rikoresha ikoreshwa rya tekinoroji ya mudasobwa hamwe na algorithms kugirango tumenye, tumenye kandi dukurikirane ibintu bigamije binyuze mugihe nyacyo cyo gutunganya amashusho no gusesengura kugirango ugere kubikorwa bifatika.Igenzura ryibitekerezo rishobora gutanga urwego rwo hejuru rwo guhuza n'imihindagurikire yimikorere igoye yo kumenya no guhuza imirimo.
Uburyo bwo kugenzura ibyuma bifata amashanyarazi birimo kugenzura intoki, kugenzura porogaramu no kugenzura ibitekerezo bya sensor.Igenzura rirashobora gukoreshwa kugiti cye cyangwa muguhuza kugirango ugere kubikorwa byuzuye, byikora kandi byoroshye.Guhitamo uburyo bukwiye bwo kugenzura bigomba gusuzumwa kandi bigafatwa hashingiwe kubintu nkibikenewe byihariye bisabwa, ibisabwa byukuri, hamwe nurwego rwo kwikora.
Hariho izindi ngingo nkeya zikwiye gusuzumwa mugihe kijyanye nuburyo amashanyarazi afata.Hano hari ubugenzuzi nibintu bifitanye isano byaganiriweho:
4. Kugenzura ibitekerezo no kugenzura-gufunga-kugenzura
Kugenzura ibitekerezo nuburyo bwo kugenzura bushingiye kumakuru yo gutanga ibitekerezo.Mumashanyarazi, gufunga-kugenzura birashobora kugerwaho ukoresheje sensor kugirango umenye imiterere, umwanya, imbaraga nibindi bipimo bya gripper.Igenzura rifunze-bivuze ko sisitemu ishobora guhindura amabwiriza yo kugenzura mugihe nyacyo ishingiye kumakuru yatanzwe kugirango ugere kuri leta yifuza cyangwa imikorere ya gripper.Ubu buryo bwo kugenzura burashobora kunoza imbaraga, ubunyangamugayo na stabilite ya sisitemu.
5. Kugenzura ubugari bwa pulse (PWM) kugenzura
Impinduka z'ubugari bwa modulisiyo ni uburyo busanzwe bwo kugenzura bukoreshwa cyane mu gufata amashanyarazi.Ihindura gufungura no gufunga umwanya cyangwa umuvuduko wa gripper yamashanyarazi mugenzura ubugari bwa pulse yikimenyetso cyinjira.Igenzura rya PWM rirashobora gutanga ibyemezo byukuri byo kugenzura no kwemerera ibikorwa bya gripper ibisubizo guhinduka mubihe bitandukanye byimitwaro.
6. Imigaragarire y'itumanaho na protocole:
Imashini zikoresha amashanyarazi akenshi zisaba itumanaho no kwishyira hamwe na sisitemu yo kugenzura robot cyangwa ibindi bikoresho.Kubwibyo, uburyo bwo kugenzura burimo no guhitamo imiyoboro yitumanaho hamwe na protocole.Ihuriro rusange ryitumanaho ririmo Ethernet, icyambu gikurikirana, bisi ya CAN, nibindi, kandi protocole yitumanaho irashobora kuba Modbus, EtherCAT, Profinet, nibindi. Guhitamo neza imiyoboro yitumanaho hamwe na protocole ni urufunguzo rwo kwemeza ko gripper ihuza kandi ikora ntakindi sisitemu.
7. Kugenzura umutekano
Umutekano ni ikintu cyingenzi mugihe cyo kugenzuraamashanyarazis.Kugirango umutekano wibikorwa nibikoresho bikorwe, sisitemu yo kugenzura gripper akenshi isaba ibintu byumutekano nko guhagarara byihutirwa, gutahura kugongana, imipaka yimbaraga, n umuvuduko ntarengwa.Iyi mikorere yumutekano irashobora gushyirwa mubikorwa hifashishijwe igishushanyo mbonera, kugenzura porogaramu no gutanga ibitekerezo.
Mugihe uhisemo uburyo bukwiye bwo kugenzura amashanyarazi, ibintu nkibikenewe bya porogaramu, ibisabwa byukuri, urwego rwimodoka, ibisabwa byitumanaho numutekano bigomba gutekerezwa byimazeyo.Ukurikije uburyo bwihariye bwo gusaba, birashobora kuba nkenerwa guhitamo iterambere rya sisitemu yo kugenzura cyangwa guhitamo igisubizo cyubucuruzi gihari.Itumanaho no kugisha inama hamwe nababitanga nababigize umwuga bizafasha kumva neza ibyiza nibibi byuburyo butandukanye bwo kugenzura no guhitamo uburyo bukwiye bwo kugenzura kugirango uhuze ibyifuzo byihariye.
8. Programmable Logic Controller (PLC)
Programmable logic controller nigikoresho gikoreshwa mugucunga gikoreshwa cyane muri sisitemu yo gutangiza inganda.Irashobora guhuzwa na gripper yamashanyarazi kugirango igenzure kandi ihuze grippers binyuze muri programming.Ubusanzwe PLC ifite ibintu byinshi byinjiza / bisohoka bishobora gukoreshwa muguhuza ibyuma bifata ibyuma bifata ibyemezo kugirango bigenzurwe neza.
9. Kugenzura algorithm na logique
Kugenzura algorithms na logique nigice cyingenzi cyo kumenya imyitwarire ya gripper.Ukurikije ibyifuzo bisabwa nibiranga gripper, algorithm zitandukanye zo kugenzura zirashobora gutezwa imbere no gukoreshwa, nko kugenzura PID, kugenzura fuzzy logic, kugenzura imiterere, nibindi. ibikorwa bihamye.
10. Umugenzuzi wa porogaramu (CNC)
Kuri porogaramu zimwe zisaba ibikorwa bihanitse kandi bigoye, kugenzura porogaramu (CNC) nabyo birahitamo.Sisitemu ya CNC irashobora gutwaraamashanyarazimukwandika no gushyira mubikorwa gahunda yihariye yo kugenzura no kugera kumwanya ugenzura neza no gutegura inzira.
11. Kugenzura Imigaragarire
Igenzura ryimikorere ya gripper yamashanyarazi ninteruro uyikoresha akorana na gripper.Irashobora kuba ecran ya ecran, buto ya buto, cyangwa interineti ishingiye kuri mudasobwa.Intuitive kandi yoroshye-gukoresha-kugenzura interineti byongera imikorere yabakozi kandi byoroshye.
12. Kumenya amakosa no kugarura amakosa
Muburyo bwo kugenzura gripper, gutahura amakosa hamwe nibikorwa byo kugarura amakosa nibyingenzi kugirango habeho umutekano no kwizerwa bya sisitemu.Sisitemu yo kugenzura gripper igomba kuba ifite ubushobozi bwo kumenya amakosa, ikabasha gutahura no gusubiza ibibazo bishoboka mugihe gikwiye, kandi igafata ingamba zikwiye zo gukira cyangwa gutabaza.
Mu ncamake, uburyo bwo kugenzura ibyuma bifata amashanyarazi bikubiyemo ibintu byinshi, harimo kugenzura porogaramu (PLC / CNC), kugenzura algorithm, kugenzura imiyoboro no kugenzura amakosa, n'ibindi. Guhitamo uburyo bukwiye bwo kugenzura bigomba gutekereza byimazeyo ibintu nkibikenewe, ibisabwa neza , urwego rwo kwikora, no kwizerwa.Byongeye kandi, itumanaho no kugisha inama hamwe nababitanga nababigize umwuga ni urufunguzo rwo kwemeza uburyo bwiza bwo kugenzura bwatoranijwe.
Mugihe uhisemo uburyo bwo kugenzura amashanyarazi, hari ibintu byinshi ugomba gusuzuma:
13. Gukoresha ingufu no gukora neza
Uburyo butandukanye bwo kugenzura bushobora kugira ingufu zitandukanye zo gukoresha ingufu hamwe nibikorwa.Guhitamo imbaraga nke kandi zinoze zo kugenzura birashobora kugabanya gukoresha ingufu no kunoza imikorere ya sisitemu.
14. Ubunini no guhinduka
Urebye impinduka zishoboka mubisabwa mugihe kizaza, nibyiza guhitamo uburyo bwo kugenzura hamwe nubunini bwiza kandi bworoshye.Ibi bivuze ko sisitemu yo kugenzura ishobora guhuzwa byoroshye nimirimo mishya hamwe nibisabwa kandi igahuzwa nibindi bikoresho.
15. Igiciro no Kuboneka
Uburyo butandukanye bwo kugenzura bushobora kugira ibiciro bitandukanye no kuboneka.Mugihe uhisemo uburyo bwo kugenzura, ugomba gusuzuma bije yawe hamwe namahitamo aboneka kumasoko kugirango umenye neza igisubizo cyoroshye kandi cyoroshye.
16. Kwizerwa no gukomeza
Uburyo bwo kugenzura bugomba kugira ubwizerwe bwiza no kububungabunga byoroshye.Kwizerwa bivuga ubushobozi bwa sisitemu yo gukora neza kandi idakunda gutsindwa.Kubungabunga bisobanura ko sisitemu yoroshye gusana no kubungabunga kugabanya igihe cyo gusana no gusana ibiciro.
17. Kubahiriza no kubahiriza
Porogaramu zimwe zishobora gusaba kubahiriza ibipimo byihariye byubahirizwa nibisabwa n'inganda.Mugihe uhisemo uburyo bwo kugenzura, menya neza ko amahitamo yahisemo yubahiriza ibipimo ngenderwaho hamwe nibisabwa kugirango uhuze umutekano nibikenewe.
18. Imigaragarire y'abakoresha n'amahugurwa y'abakoresha
Uburyo bwo kugenzura bugomba kugira intangiriro kandi yoroshye-gukoresha-ukoresha interineti kugirango uyikoresha abashe kumva no gukoresha sisitemu.Byongeye kandi, ni ngombwa guhugura abakoresha gukoraamashanyarazikugenzura sisitemu neza kandi neza.
Urebye ibintu byavuzwe haruguru, urashobora guhitamo uburyo bwo kugenzura amashanyarazi akwiranye nuburyo bukenewe bwa porogaramu.Ni ngombwa gusuzuma ibyiza n'ibibi bya buri buryo bwo kugenzura no gufata ibyemezo byuzuye ukurikije ibikenewe kugirango harebwe niba amashanyarazi ashobora kuzuza imikorere iteganijwe n'ibisabwa mu mikorere.
Mugihe uhisemo kugenzura amashanyarazi yawe, hari ibindi bintu ugomba gusuzuma:
19. Ibisabwa na porogaramu
Porogaramu zitandukanye zirashobora kugira ibisabwa byihariye byukuntu gripper igenzurwa, bityo programable na progaramu ni ngombwa kwitabwaho.Uburyo bumwe bwo kugenzura butanga uburyo bworoshye bwo guhinduka no kwihitiramo ibintu, byemerera porogaramu yihariye no kuboneza bishingiye kubikenewe.
20. Imikorere yo kureba no gukurikirana
Uburyo bumwe bwo kugenzura butanga amashusho no kugenzura ubushobozi, butuma abashinzwe gukurikirana imiterere, umwanya hamwe nibipimo bya gripper mugihe nyacyo.Ubu bushobozi butezimbere kugaragara no gukurikirana ibikorwa, bifasha kumenya ibibazo bishobora kuvuka no kugira ibyo uhindura
22. Kugenzura kure no gukurikirana kure birashoboka
Rimwe na rimwe, kugenzura kure no kugenzura kure ni ibintu bikenewe.Hitamo uburyo bwo kugenzura hamwe nubushobozi bwa kure bwo kugenzura no kugenzura kugirango ushoboze gukora kure no kugenzura imiterere nimikorere ya gripper.
23. Kuramba no kugira ingaruka ku bidukikije
Kuri porogaramu zimwe aho kuramba hamwe nibidukikije ari ngombwa, guhitamo uburyo bwo kugenzura ukoresheje ingufu nke, urusaku ruke hamwe n’ibyuka bihumanya ikirere bishobora kwitabwaho.
Kurangiza, hari ibintu byinshi ugomba gusuzuma muguhitamo uburyo bwiza bwo kugenzuraamashanyarazis, harimo programable, ibikenerwa byihariye, kubonerana no kugenzura ubushobozi, kwishyira hamwe no guhuza, kugenzura kure no kugenzura, kuramba hamwe nibidukikije.Mugusuzuma ibyo bintu no kubihuza nibikenewe bya porogaramu yihariye, uburyo bukwiye bwo kugenzura burashobora gutoranywa kugirango bigerweho neza, byizewe kandi bifite umutekano.
Igihe cyo kohereza: Ugushyingo-06-2023