Integrated robotic plasma kudula kumafuna zambiri kuposa nyali yomwe imamangiriridwa kumapeto kwa mkono wa roboti.Kudziwa njira yodulira plasma ndiyofunikira.chuma
Opanga zitsulo m'mafakitale onse - muzokambirana, makina olemera, kupanga zombo ndi zitsulo zamapangidwe - amayesetsa kukwaniritsa zoyembekeza zobweretsera pamene akudutsa zofunikira zamtundu.Amakhala akufunafuna kuchepetsa ndalama pamene akulimbana ndi vuto lomwe limakhalapo losunga ntchito zaluso.Bizinesi si yophweka.
Ambiri mwa mavuto amenewa akhoza kutsatiridwa mmbuyo ku ndondomeko Buku kuti akadali ponseponse mu makampani, makamaka pamene kupanga zinthu zovuta zooneka ngati zivindikiro chidebe mafakitale, yokhota kumapeto zigawo zikuluzikulu zitsulo, ndi mipope ndi tubing.Opanga ambiri amathera 25 mpaka 50 peresenti ya nthawi Machining awo chodetsa Buku, kulamulira khalidwe, ndi kutembenuka, pamene kwenikweni kudula nthawi (nthawi zambiri plasma odulidwa) kapena plasma odulidwa leni 10 mpaka 20 peresenti.
Kuphatikiza pa nthawi yomwe imagwiritsidwa ntchito ndi machitidwe oterowo, ambiri mwa mabalawa amapangidwa mozungulira malo olakwika, miyeso kapena kulolerana, zomwe zimafuna ntchito zowonjezereka zachiwiri monga kugaya ndi kukonzanso, kapena kuipiraipira, Zida zomwe zimayenera kuchotsedwa.
Zonsezi zachititsa kuti makampani kukankhira ku automation.A shopu kuti automates Buku muuni kudula ntchito kwa zovuta Mipikisano olamulira mbali akuyendera loboti plasma kudula selo ndipo, n'zosadabwitsa, anaona yaikulu gains.This ntchito amathetsa masanjidwe Buku, ndi ntchito yomwe ingatenge 5 anthu maola 6 tsopano akhoza kuchitidwa mu mphindi 18 chabe ntchito loboti.
Ngakhale kuti phindu liri lodziwikiratu, kugwiritsa ntchito robotic plasma kudula kumafuna zambiri kuposa kungogula robot ndi nyali ya plasma.Ngati mukuganiza za kudula kwa plasma kwa robotic, onetsetsani kuti mutenge njira yonse ndikuyang'ana pamtengo wonse wamtengo wapatali.Kuwonjezerapo, gwirani ntchito ndi ogwirizanitsa ophunzitsidwa ndi opanga omwe amamvetsetsa ndikumvetsetsa teknoloji ya plasma ndi zofunikira za dongosolo ndi ndondomeko zomwe zimaphatikizidwa kuti zitsimikizire kuti mapangidwe a batri amapangidwa.
Komanso ganizirani mapulogalamu, amene arguably chimodzi mwa zigawo zofunika kwambiri aliyense loboti plasma kudula system.If inu padera mu dongosolo ndi mapulogalamu mwina zovuta kugwiritsa ntchito, kumafuna zambiri ukatswiri kuthamanga, kapena mukuona kuti zimatenga nthawi yochuluka kuti azolowere loboti kuti plasma kudula ndi kuphunzitsa njira kudula, inu basi kuwononga ndalama zambiri.
Ngakhale mapulogalamu a robotic simulation ndi ofala, maselo ogwira ntchito a robotic plasma amagwiritsa ntchito mapulogalamu a pulogalamu ya robotic popanda intaneti yomwe imangopanga mapulogalamu a robotic njira, kuzindikira ndi kulipiritsa kugundana, ndikugwirizanitsa chidziwitso cha plasma kudula ndondomeko.
Kudula kwa plasma kumafuna mawonekedwe apadera a tochi.Ikani ma geometry a torch omwe amagwiritsidwa ntchito mu XY yofananira (onani Chithunzi 1) ku mawonekedwe ovuta, monga mutu wokhotakhota wa chombo, ndipo mudzawonjezera mwayi wogundana. Pachifukwa ichi, miyuni yakuthwa (yokhala ndi "zowongoka") ndiyoyenera kudula mawonekedwe a robotic.
Mitundu yonse ya kugunda sikungapewedwe ndi tochi yakuthwa-ngongole yokha. Pulogalamu ya gawoli iyeneranso kukhala ndi kusintha kwa kutalika kodulidwa (ie nsonga ya nyali iyenera kukhala ndi chilolezo ku workpiece) kuti zisawombane (onani Chithunzi 2).
Pa kudula ndondomeko, mpweya wa plasma umayenda pansi pa thupi la nyali mu njira ya vortex kupita ku nsonga. 1,100 madigiri Celsius. Consumables amafuna chitetezo, ndipo wosanjikiza wosanjikiza wa tinthu zolemera amapereka chitetezo.
Chithunzi 1. Matupi a nyali okhazikika amapangidwira kudula zitsulo zachitsulo.Kugwiritsa ntchito nyali yomweyo muzogwiritsira ntchito ma axis ambiri kumawonjezera mwayi wogundana ndi workpiece.
Kuzungulirako kumapangitsa mbali imodzi ya odulidwawo kukhala otentha kuposa ena.Tochi zokhala ndi mpweya wozungulira mozungulira nthawi zambiri zimayika mbali yotentha ya chodulidwacho kumanja kwa arc (poyang'ana kuchokera pamwamba pa njira yodulidwa) .Izi zikutanthauza kuti wokonza njirayo amagwira ntchito mwakhama kuti akwaniritse mbali yabwino ya odulidwawo ndipo amaganiza kuti mbali yoyipa (kumanzere) idzakhala zidutswa (onani).
Mbali zamkati ziyenera kudulidwa motsatira njira yotsutsana, ndi mbali yotentha ya plasma imapanga kudulidwa koyera kumanja (mbali ya m'mphepete mwa mbali). M'malo mwake, chigawo cha gawocho chiyenera kudulidwa molunjika.
Dziwani kuti matebulo ambiri odulira gulu la plasma ali ndi nzeru zamakina zomwe zimapangidwira kwa wowongolera potengera momwe arc cut.
Kuyenda kwa nyali komwe kumagwiritsidwa ntchito poboola zitsulo kumakhala ndi zotsatira zachindunji pazitsulo zodula za plasma.Ngati nyali ya plasma ipyoza pepalalo pamtunda wodula (pafupi kwambiri ndi workpiece), kutsekemera kwachitsulo chosungunula kungawononge msanga chishango ndi nozzle.Izi zimabweretsa khalidwe losadulidwa komanso kuchepetsa moyo wogwiritsidwa ntchito.
Apanso, izi sizichitika kawirikawiri muzitsulo zodula mapepala ndi gantry, monga luso lapamwamba la luso la nyali lamangidwa kale mu controller.Woyendetsa amasindikiza batani kuti ayambitse ndondomeko ya kuboola, yomwe imayambitsa zochitika zingapo kuti zitsimikizire kutalika koyenera kuboola.
Choyamba, nyaliyo imapanga njira yowonera kutalika, nthawi zambiri imagwiritsa ntchito chizindikiro cha ohmic kuti izindikire malo ogwirira ntchito. Pambuyo poyika mbaleyo, nyaliyo imachotsedwa kuchoka ku mbale kupita kumtunda wopita kumtunda, womwe ndi mtunda wokwanira kuti plasma arc isamukire ku workpiece. ndi kutali kwambiri ndi kuphulika kwa zinthu zosungunula.Nyaliyo imasunga mtunda uwu mpaka plasma arc ilowa kwathunthu m'mbale. Pambuyo pochedwa kuboola kwatha, nyaliyo imasunthira pansi ku mbale yachitsulo ndikuyamba kudula (onani Chithunzi 4).
Kachiwiri, nzeru zonsezi nthawi zambiri anamanga mu plasma Mtsogoleri ntchito pepala kudula, osati loboti controller.Robotic kudula alinso wosanjikiza wina wa complexity.Kuboola pa msinkhu wolakwika ndi zoipa mokwanira, koma pamene kudula Mipikisano olamulira akalumikidzidwa, nyali sangakhale mu njira yabwino kwa workpiece ndi makulidwe zinthu. consumable life.Kuonjezera apo, kuboola chogwirira ntchito molakwika kungapangitse msonkhano wa tochi pafupi kwambiri ndi malo ogwirira ntchito, kuulula kuti usungunuke ndikupangitsa kulephera msanga (onani Chithunzi 5).
Ganizirani za robotic plasma kudula ntchito yomwe imaphatikizapo kupinda mutu wa chotengera choponderezedwa.Mofanana ndi kudula kwa pepala, tochi ya robotic iyenera kuyikidwa perpendicular kwa zinthu pamwamba kuonetsetsa thinnest zotheka mtanda gawo kwa perforation.Monga plasma nyali kuyandikira workpiece, ntchito kutalika kuzindikira mpaka kupeza chotengera pamwamba, ndiye retracts pamodzi ndi atali kusamutsa torch ndi axid torch. kubwezanso motsatira nyali kuti iboole kutalika, motetezeka kutali ndi blowback (onani Chithunzi 6).
Pamene kuchedwa kwa kubowola kutha, nyaliyo imatsitsidwa mpaka kutalika kwa kudula.Popanga ma contours, nyaliyo imayendetsedwa ku njira yodula yomwe mukufuna panthawi imodzi kapena m'masitepe.Panthawiyi, ndondomeko yodula imayamba.
Maloboti amatchedwa machitidwe opangidwa mopitirira muyeso.Izi zati, ili ndi njira zambiri zofikira pa mfundo imodzi.Izi zikutanthauza kuti aliyense amene akuphunzitsa robot kusuntha, kapena wina aliyense, ayenera kukhala ndi luso linalake, kaya kumvetsetsa kayendetsedwe ka robot kapena zofunikira za makina a plasma kudula.
Ngakhale kuti zolendala zachiphunzitso zasinthika, ntchito zina sizoyenera mwachibadwa pophunzitsa pendant programming —makamaka ntchito zophatikiza zigawo zambiri zosakanizika za voliyumu yocheperako. Maloboti sapanga akaphunzitsidwa, ndipo kuphunzitsa pakokha kungatenge maola ambiri, kapenanso masiku pazigawo zovuta.
Mapulogalamu opangira mapulogalamu a loboti osagwiritsa ntchito intaneti opangidwa ndi ma module odulira plasma adzaphatikizira ukatswiriwu (onani Chithunzi 7) .Izi zikuphatikizapo njira yodulira gasi ya plasma, kuzindikira kutalika koyambirira, kutsata kuboola, ndi kukhathamiritsa kwa liwiro la tochi ndi njira za plasma.
Chithunzi 2. Ma nyali akuthwa ("akuloza") ali oyenerera kwambiri kudulidwa kwa plasma ya robotic.Koma ngakhale ndi ma geometries awa, ndi bwino kuwonjezera kutalika kwa kudula kuti kuchepetsa mwayi wogundana.
Pulogalamuyi imapereka ukatswiri wa robotiki wofunikira pakukonza madongosolo opitilira muyeso.Imayang'anira ma singularities, kapena zochitika zomwe robotic-effector (panthawiyi, tochi ya plasma) sangathe kufika pa workpiece; malire olowa; kupitilira; kugwedeza kwa dzanja; kuzindikira kugundana; nkhwangwa zakunja; ndi toolpath optimization.Choyamba, wopanga mapulogalamuwa amalowetsa fayilo ya CAD ya gawo lomalizidwa mu mapulogalamu a pulogalamu ya robot, ndiye amatanthauzira m'mphepete mwake kuti adulidwe, pamodzi ndi pierce point ndi zina, poganizira kugunda ndi zopinga zosiyanasiyana.
Njira zina zaposachedwa kwambiri za pulogalamu yapaintaneti ya robotics zimagwiritsa ntchito zomwe zimatchedwa ntchito-based offline programming.Njirayi imalola olemba mapulogalamu kuti azipanga okha njira zodulira ndikusankha ma profaili angapo nthawi imodzi.Wopanga mapulogalamu angasankhe chosankha cham'mphepete chomwe chikuwonetsa njira yodulira ndi njira, ndiyeno kusankha kusintha poyambira ndi kumapeto, komanso mayendedwe ndi kutengera kwa plasma torch ya plasma. system) ndikupitilira kuphatikiza mtundu wina wa roboti.
Kuyerekezera kotsatirako kungaganizire zonse zomwe zili mu selo la robotic, kuphatikizapo zinthu monga zotchinga chitetezo, zosintha, ndi nyali za plasma. Kenako zimawerengera zolakwika zilizonse za kinematic ndi kugunda kwa woyendetsa, yemwe angathe kukonza vutolo. kwa chilolezo chofunikira-chidziwitso chaching'ono, chothetsedwa ntchito isanafike pansi, yomwe imathandiza kuthetsa mutu ndi kutaya.
Kusowa kwa ntchito kosalekeza komanso kuchuluka kwa makasitomala omwe akufuna kwachititsa kuti opanga ambiri atembenukire ku kudula kwa plasma kwa robotic.Mwatsoka, anthu ambiri amadumphira m'madzi kuti apeze zovuta zambiri, makamaka pamene anthu ophatikiza makina odzipangira okha alibe chidziwitso cha kudula kwa plasma.Njirayi idzangoyambitsa kukhumudwa.
Phatikizani chidziwitso cha kudula kwa plasma kuyambira pachiyambi, ndipo zinthu zimasintha.Ndi nzeru za ndondomeko ya plasma, loboti imatha kusinthasintha ndikuyenda momwe ikufunikira kuti igwire bwino kwambiri kuboola, kupititsa patsogolo moyo wa consumables.Imadula mu njira yoyenera ndikuyendetsa kuti zisawonongeke kugundana kulikonse.
Nkhaniyi idachokera pa "Advances in 3D Robotic Plasma Cutting" yomwe idaperekedwa pamsonkhano wa 2021 FABTECH.
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Nthawi yotumiza: May-25-2022
