Xa kuziwa kwindlela i-grippers yombane elawulwa ngayo, zininzi iindlela ezahlukeneyo zokufezekisa ukusebenza okuchanekileyo kunye nokulawula.Eli nqaku liza kwazisa iindlela ezininzi eziqhelekileyo zokulawula igripper yombane, kubandakanywa ulawulo lwezandla, ulawulo lweprogram kunye nolawulo lwempendulo yenzwa.
1. Ulawulo lwezandla
Ulawulo lwezandla yenye yezona ndlela zolawulo ezisisiseko.Ngokuqhelekileyo ilawula ukuvulwa kunye nokuvala isenzo se-gripper ngokusebenzisa isibambo, iqhosha okanye ukutshintsha.Ulawulo lwezandla lufanelekile kwimisebenzi elula, njengakwiilabhoratri okanye izicelo ezincinci.Umsebenzisi unokulawula ukuhamba kwe-gripper ngokuthe ngqo ngokudibana ngokomzimba, kodwa ayinakho ukuzenzekelayo kunye nokuchaneka.
2. Ulawulo lwenkqubo
Ulawulo olucwangcisiweyo yindlela ephucukileyo yokulawulainto yokubamba yombanes.Ibandakanya ukubhala kunye nokwenza iinkqubo ezithile zokulawula isenzo se-gripper.Le ndlela yokulawula inokuphunyezwa ngeelwimi zeprogram (ezifana neC ++, Python, njl.) okanye isoftware yokulawula irobhothi.Ulawulo olucwangcisiweyo luvumela i-gripper ukuba yenze ulandelelwano olunzima kunye nokusebenza okunengqiqo, ukubonelela ukuguquguquka okukhulu kunye nokukwazi ukuzenzekelayo.
Ulawulo olucwangcisiweyo lunokuthi lubandakanye idatha yesivamvo kunye neendlela zokunika ingxelo ukuze kusebenze ukusebenza okuphezulu.Ngokomzekelo, inkqubo ingabhalwa ukulungelelanisa ngokuzenzekelayo amandla okuvula kunye nokuvala okanye indawo yokubamba ngokusekelwe kwiimpawu zegalelo zangaphandle (njengamandla, uxinzelelo, umbono, njl.).Le ndlela yokulawula ifanelekile kwizicelo ezifuna ulawulo oluchanekileyo kunye nemisebenzi enzima, njengemigca yendibano, imveliso ezenzekelayo, njl.
3. Ulawulo lwengxelo yoluvo
Ulawulo lwempendulo ye-Sensor yindlela esebenzisa abenzi boluvo ukufumana imo yegripper kunye nolwazi lokusingqongileyo kunye nokwenza ulawulo olusekelwe kolu lwazi.Abenzi boluvo abaqhelekileyo baquka abenzi boluvo bamandla, abenzi boxinzelelo, abavavanyi bendawo, kunye nabenzi bombono.
Ngesivamvo samandla, umhlathi obambezelayo unokuva amandla awenzayo kwinto, ukuze amandla okubamba alawuleke.Izinzwa zoxinzelelo zingasetyenziselwa ukufumanisa uxinzelelo loqhagamshelwano phakathi kwe-gripper kunye nento ukuqinisekisa ukubamba okukhuselekileyo kunye nokuzinza.I-sensor ye-position inokubonelela ngesithuba kunye nolwazi lwesimo sengqondo se-gripper ukulawula ngokuchanekileyo ukuhamba kwe-gripper.
Abenzi boluvo bombono banokusetyenziselwa ukuchonga kunye nokubeka izinto ekujoliswe kuzo, ukwenza imisebenzi yokudibanisa ezenzekelayo.Ngokomzekelo, emva kokusebenzisa i-sensors zombono ukukhangela okujoliswe kuyo kunye nokuchongwa, i-gripper inokulawula isenzo sokudibanisa ngokusekelwe kwindawo kunye nobukhulu bento ekujoliswe kuyo.
Ulawulo lwengxelo yoluvo lunokubonelela ngedatha yexesha lokwenyani kunye nolwazi lwengxelo ukuze
Oku kwenza ulawulo oluchanekileyo ngakumbi lweentshukumo ze-gripper.Ngempendulo yesivamvo, i-gripper inokuva kwaye iphendule kutshintsho lwemo engqongileyo ngexesha lokwenyani, ngaloo ndlela ihlengahlengisa iiparamitha ezinje ngokuqina okubambayo, indawo, kunye nesantya sokuqinisekisa ukusebenza ngokuchanekileyo nokukhuselekileyo.
Ukongezelela, kukho iindlela zokulawula eziphambili zokukhetha kuzo, ezifana nokulawula amandla / i-torque, ukulawulwa kwe-impedance kunye nokulawulwa kwengxelo ebonakalayo.Ukunyanzeliswa / ukulawulwa kwetorque kwenza ulawulo oluchanekileyo lwamandla okanye i-torque eyenziwa yi-gripper ukulungelelanisa iimpawu kunye neemfuno zeendawo zokusebenza ezahlukeneyo.Ukulawulwa kwe-impedance kuvumela ukubamba ukubamba ukulungelelanisa ukuqina kwayo kunye nokuphendula ngokusekelwe kwiinguqu kwimikhosi yangaphandle, ukuvumela ukuba isebenze kunye nomqhubi womntu okanye ivumelane neendawo ezahlukeneyo zokusebenza.
Ulawulo lwengxelo ebonwayo lusebenzisa itekhnoloji yombono wekhompyuter kunye ne-algorithms ukuchonga, ukufumana kunye nokulandelela izinto ekujoliswe kuzo ngokusetyenzwa kwemifanekiso yexesha lokwenyani kunye nohlalutyo ukufezekisa imisebenzi echanekileyo yokuqinisa.Ulawulo lwengxelo ebonwayo lunokubonelela ngenqanaba eliphezulu lokuguquguquka kunye nokuguquguquka kokuchongwa kwesixhobo esintsonkothileyo kunye nemisebenzi yokubambelela.
Iindlela zokulawula ii-grippers zombane zibandakanya ulawulo lwezandla, ulawulo lweprogram kunye nolawulo lwempendulo yenzwa.Olu lawulo lunokusetyenziswa ngabanye okanye ludityaniswe ukufezekisa imisebenzi echanekileyo, ezenzekelayo kunye ne-flexible clamping.Ukukhethwa kwendlela yokulawula efanelekileyo kufuneka kuhlolwe kwaye kugqitywe ngokusekelwe kwizinto ezifana neemfuno ezithile zesicelo, iimfuno zokuchaneka, kunye neqondo lokuzenzekelayo.
Kukho eminye imiba embalwa ekufuneka iqwalaselwe xa kufikwa kwindlela iintambo zombane ezilawulwa ngayo.Nalu olunye ulawulo kunye nemiba enxulumeneyo exoxwa ngokuqhubekayo:
4. Ulawulo lwengxelo kunye nolawulo oluvaliweyo
Ulawulo lwengxelo yindlela yolawulo esekwe kulwazi lwengxelo yenkqubo.Kwii-grippers zombane, ukulawulwa kwe-loop evaliweyo kunokufezekiswa ngokusebenzisa izinzwa zokubona isimo, isikhundla, amandla kunye nezinye iiparitha ze-gripper.Ukulawulwa kwe-loop evaliweyo kuthetha ukuba inkqubo inokulungelelanisa imiyalelo yokulawula ngexesha langempela ngokusekelwe kulwazi lwempendulo ukufezekisa imeko efunekayo okanye ukusebenza kwe-gripper.Le ndlela yokulawula inokuphucula ukuqina, ukuchaneka kunye nokuzinza kwenkqubo.
5. Ulawulo lwe-Pulse width modulation (PWM).
Ukumodareyitha kobubanzi be-Pulse yindlela yokulawula eqhelekileyo esetyenziswa ngokubanzi kwii-grippers zombane.Ilungisa indawo yokuvula kunye nokuvala okanye isantya se-gripper yombane ngokulawula ububanzi be-pulse yesiginali yokufaka.Ulawulo lwe-PWM lunokubonelela ngesisombululo solawulo oluchanekileyo kwaye luvumele impendulo yesenzo sokubamba ukuba ilungiswe phantsi kweemeko ezahlukeneyo zomthwalo.
6. Unxibelelwano lonxibelelwano kunye neprotocol:
Izibambi zombane zihlala zifuna unxibelelwano kunye nokudibanisa kunye neenkqubo zokulawula iirobhothi okanye ezinye izixhobo.Ke ngoko, indlela yokulawula ikwabandakanya ukukhethwa kweendlela zonxibelelwano kunye neeprotocol.Unxibelelwano oluqhelekileyo lwezonxibelelwano lubandakanya i-Ethernet, i-serial port, i-CAN ibhasi, njl., kunye neprotocol yonxibelelwano ingaba yi-Modbus, i-EtherCAT, i-Profinet, njl. Ukukhethwa ngokufanelekileyo kweendlela zonxibelelwano kunye neeprotokholi zingundoqo ekuqinisekiseni ukuba i-gripper idibanisa kwaye isebenza ngokufanelekileyo kunye nezinye iinkqubo.
7. Ulawulo lokhuseleko
Ukhuseleko luyingqwalasela ebalulekileyo ngexesha lolawulo lweinto yokubamba yombanes.Ukuqinisekisa ukhuseleko lwabaqhubi kunye nezixhobo, iinkqubo zokulawula i-gripper zihlala zifuna iimpawu zokhuseleko ezifana nokumisa ngokukhawuleza, ukufumanisa ukungqubana, imida yamandla, kunye nemilinganiselo yesantya.Le misebenzi yokhuseleko inokuphunyezwa ngoyilo lwe-hardware, ulawulo lweprogram kunye nempendulo yenzwa.
Xa ukhetha indlela efanelekileyo yokulawula i-electric gripper, izinto ezifana neemfuno zesicelo, iimfuno zokuchaneka, iqondo lokuzenzekelayo, iimfuno zonxibelelwano kunye nokhuseleko kufuneka ziqwalaselwe ngokubanzi.Ngokuxhomekeke kwimeko yesicelo esithile, kunokufuneka ukuba wenze ngokwezifiso uphuhliso lwenkqubo yokulawula okanye ukhethe isisombululo esikhoyo sorhwebo.Unxibelelwano kunye nokubonisana nababoneleli kunye neengcali kuya kunceda ukuqonda ngcono iingenelo kunye nokungonakali kweendlela ezahlukeneyo zokulawula kwaye ukhethe eyona ndlela ifanelekileyo yokulawula ukuhlangabezana neemfuno ezithile.
8. IsiLawuli seNgqiqo eProgrammable (PLC)
Isilawuli sengqiqo ecwangcisiweyo sisixhobo solawulo esisetyenziswa ngokuqhelekileyo kwiinkqubo ezizisebenzelayo zoshishino.Inokuthi idibaniswe kunye neentambo zombane ukulawula kunye nokulungelelanisa i-grippers ngokusebenzisa inkqubo.Ii-PLCs zihlala zinonxibelelwano olutyebileyo / lweziphumo ezinokuthi zisetyenziswe ukudibanisa kunye ne-sensor kunye ne-actuators ukuphumeza ingqiqo yolawulo olunzima.
9. Lawula i-algorithm kunye nengqiqo
Ulawulo lwe-algorithms kunye neengqiqo ziyinxalenye ephambili yokumisela ukuziphatha kwe-gripper.Ngokuxhomekeke kwiimfuno zesicelo kunye neempawu ze-gripper, ii-algorithms zolawulo ezahlukeneyo zingaphuhliswa kwaye zisetyenziswe, ezifana nolawulo lwe-PID, ulawulo lwengqiqo olungaqondakaliyo, ulawulo oluguqukayo, njl. imisebenzi yokubambelela ezinzileyo.
10. Inkqubo yokulawula (CNC)
Kwezinye izicelo ezifuna ukuchaneka okuphezulu kunye nokusebenza okuntsokothileyo, abalawuli abacwangcisiweyo (CNC) nabo banokhetho.Inkqubo ye-CNC inokuqhuba iinto yokubamba yombanengokubhala kunye nokwenza iinkqubo zolawulo ezithile kunye nokufezekisa ulawulo lwendawo oluchanekileyo kunye nesicwangciso somkhondo.
11. Ujongano lolawulo
I-interface yokulawula i-gripper yombane yi-interface apho umqhubi asebenzisana ne-gripper.Inokuba sisikrini sokuchukumisa, ipaneli yeqhosha, okanye ujongano lwegraphical esekwe kwikhompyuter.I-interface ecacileyo kunye nelula ukuyisebenzisa yokulawula yandisa ukusebenza kakuhle kwabasebenzisi kunye nokulula.
12. Ukubona iimpazamo kunye nokubuyisela iimpazamo
Kwinkqubo yokulawula i-gripper, ukufumanisa iimpazamo kunye nemisebenzi yokubuyisela impazamo kubalulekile ukuqinisekisa ukuzinza nokuthembeka kwenkqubo.Inkqubo yokulawula i-gripper kufuneka ibe namandla okubona impazamo, ikwazi ukubona kwaye iphendule kwiimeko ezinokuthi zenzeke ngexesha elifanelekileyo, kwaye ithathe amanyathelo afanelekileyo okubuyisela okanye i-alamu.
Ukushwankathela, indlela yokulawula i-gripper yombane ibandakanya iinkalo ezininzi, kubandakanywa isilawuli esicwangcisiweyo (PLC / CNC), i-algorithm yokulawula, i-interface yokulawula kunye nokufumanisa impazamo, njl njl. , iqondo lokuzenzekelayo, kunye nokuthembeka.Ukongeza, unxibelelwano kunye nokubonisana nababoneleli kunye neengcali ngundoqo ekuqinisekiseni ukuba eyona ndlela yokulawula ikhethwayo.
Xa ukhetha indlela yokulawula igripper yombane, kukho izinto ezininzi ekufuneka uziqwalasele:
13. Ukusetyenziswa kwamandla kunye nokusebenza kakuhle
Iindlela ezahlukeneyo zolawulo zinokuba namanqanaba ahlukeneyo okusetyenziswa kwamandla kunye nokusebenza kakuhle.Ukukhetha iindlela zokulawula amandla aphantsi kunye nomgangatho ophezulu kunokunciphisa ukusetyenziswa kwamandla kunye nokuphucula ukusebenza kwenkqubo.
14. Ukuqina kunye nokuguquguquka
Ukuthathela ingqalelo utshintsho olunokwenzeka kwiimfuno kwixesha elizayo, kububulumko ukukhetha indlela yokulawula kunye ne-scalability elungileyo kunye nokuguquguquka.Oku kuthetha ukuba inkqubo yokulawula inokulungelelaniswa lula kwimisebenzi emitsha kunye nezicelo kwaye ihlanganiswe nezinye izixhobo.
15. Iindleko kunye nokuFumana
Iindlela ezahlukeneyo zolawulo zinokuba neendleko ezahlukeneyo kunye nokufumaneka.Xa ukhetha indlela yokulawula, kufuneka uqwalasele uhlahlo lwabiwo-mali kunye neendlela ezikhoyo kwiimarike ukuqinisekisa ukuba ukhetha isisombululo esifikelelekayo nesifikelelekayo.
16. Ukuthembeka kunye nokugcinwa
Indlela yokulawula kufuneka ibe nokuthembeka okulungileyo kunye nokugcinwa lula.Ukuthembeka kubhekiselele ekukwazini kwenkqubo ukusebenza ngokuzinzileyo kwaye ingafanelanga ukusilela.Ukugcinwa kuthetha ukuba inkqubo kulula ukuyilungisa nokugcina ukunciphisa ixesha lokunciphisa kunye neendleko zokulungisa.
17. Ukuthotyelwa kunye neMigangatho
Izicelo ezithile zinokufuna ukuthotyelwa kwemigangatho ethile yokuthotyelwa kunye neemfuno zeshishini.Xa ukhetha indlela yokulawula, qinisekisa ukuba ukhetho olukhethiweyo luhambelana nemigangatho efanelekileyo kunye neemfuno zokulawula ukuhlangabezana neemfuno zokhuseleko kunye nokuthotyelwa.
18. Ujongano lomsebenzisi kunye noqeqesho lwabasebenzisi
Indlela yokulawula kufuneka ibe ne-intuitive kwaye kulula ukuyisebenzisa ujongano lomsebenzisi ukwenzela ukuba umqhubi aqonde lula kwaye asebenze inkqubo.Ukongeza, kubalulekile ukuqeqesha abasebenzi ukuba basebenzeinto yokubamba yombaneinkqubo yolawulo ngokuchanekileyo nangokukhuselekileyo.
Ngokuqwalasela le miba ingentla, unokukhetha indlela yokulawula igripper yombane eyenelisa iimfuno zakho zesicelo.Kubalulekile ukuvavanya i-pros and cons yendlela yokulawula nganye kwaye wenze izigqibo ezinolwazi ngokusekelwe kwiimfuno zangempela zokuqinisekisa ukuba i-gripper yombane inokuhlangabezana nokusebenza okulindelekileyo kunye neemfuno zokusebenza.
Xa ukhetha indlela yokulawula igripper yakho yombane, kukho ezinye izinto ekufuneka uziqwalasele:
19. Iimfuno zokucwangcisa kunye nokwenza ngokwezifiso
Izicelo ezahlukeneyo zinokuba neemfuno ezithile zendlela i-gripper elawulwa ngayo, ngoko ke ukucwangciswa kweprogram kunye nokwenza ngokwezifiso kubalulekile ukuqwalaselwa.Iindlela ezithile zokulawula zinika ukuguquguquka okukhulu kunye neenketho zokwenza ngokwezifiso, ukuvumela ukucwangciswa kwesiko kunye noqwalaselo olusekwe kwiimfuno zesicelo.
20. Imisebenzi yokujonga kunye nokubeka iliso
Ezinye iindlela zokulawula zibonelela ngokubonwayo kunye namandla okubeka iliso, okuvumela abaqhubi ukuba babeke iliso kwimeko, indawo kunye neeparitha ze-gripper ngexesha langempela.Ezi zakhono ziphucula ukubonakala kunye nokulandeleka kwemisebenzi, ukunceda ukuchonga imiba enokubakho kunye nokwenza uhlengahlengiso
22. Ulawulo olukude kunye nokubeka iliso kude kunokwenzeka
Kwezinye iimeko, ulawulo olukude kunye nokubeka iliso kude zizinto eziyimfuneko.Khetha indlela yokulawula kunye nokulawula okude kunye nobuchule bokubeka iliso ukwenzela ukuba usebenze kude kunye nokubeka iliso kwimeko kunye nokusebenza kwe-gripper.
23. Uzinzo kunye nefuthe lokusingqongileyo
Kwezinye izicelo apho uzinzo kunye neempembelelo zokusingqongileyo zibalulekile, ukukhetha indlela yokulawula kunye nokusetyenziswa kwamandla aphantsi, ingxolo ephantsi kunye nokukhutshwa okuphantsi kunokuqwalaselwa.
Ukushwankathela, kukho izinto ezininzi ekufuneka ziqwalaselwe xa ukhetha indlela yokulawula eyiyointo yokubamba yombanes, kubandakanywa ukucwangciswa kwenkqubo, iimfuno zokulungelelanisa, ukubonwa kunye nokubeka iliso, ukuhlanganiswa kunye nokuhambelana, ukulawula okude kunye nokubeka iliso, uzinzo kunye nefuthe lokusingqongileyo.Ngokuphonononga le miba kunye nokudibanisa kunye neemfuno zesicelo esithile, eyona ndlela ifanelekileyo yokulawula inokukhethwa ukufezekisa ukusebenza kakuhle, okuthembekileyo kunye nokukhuselekileyo kwe-gripper.
Ixesha lokuposa: Nov-06-2023