Integrated robotic plasma kudula kumafuna zambiri kuposa nyali yomwe imamangiriridwa kumapeto kwa mkono wa roboti.Kudziwa njira yodulira plasma ndiyofunikira.chuma
Opanga zitsulo m'makampani onse - m'ma workshop, makina olemera, kupanga zombo ndi zitsulo zomangamanga - amayesetsa kukwaniritsa zoyembekeza zobweretsera pamene akudutsa zofunikira zamtundu uliwonse. Iwo nthawi zonse amayesetsa kuchepetsa ndalama pamene akulimbana ndi vuto lomwe limakhalapo losunga ntchito zaluso. osati zophweka.
Ambiri mwa mavutowa atha kuyambikanso m'machitidwe apamanja omwe akadali ofala m'makampani, makamaka popanga zinthu zowoneka bwino monga zomangira zomangira mafakitale, zida zopindika zachitsulo, mapaipi ndi machubu. kukonza nthawi yolemba chizindikiro pamanja, kuwongolera khalidwe, ndi kutembenuka, pamene nthawi yeniyeni yodula (kawirikawiri ndi chogwiritsira ntchito pamanja oxyfuel kapena plasma cutter) ndi 10 mpaka 20 peresenti yokha.
Kuphatikiza pa nthawi yomwe imagwiritsidwa ntchito ndi machitidwe oterowo, ambiri mwa mabala awa amapangidwa mozungulira malo olakwika, miyeso kapena kulolerana, zomwe zimafuna ntchito zambiri zachiwiri monga kugaya ndi kukonzanso, kapena kuipiraipira, Zida zomwe ziyenera kuchotsedwa. pafupifupi 40% ya nthawi yawo yonse yokonzekera ntchito yotsika mtengo komanso yowononga.
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 gains yaikulu.Opareshoni iyi imathetsa masanjidwe Buku, ndi ntchito yomwe zingatenge anthu 5 maola 6 tsopano akhoza kuchitika mu mphindi 18 chabe ntchito loboti.
Ngakhale kuti zopindulitsa ndizodziwikiratu, kugwiritsa ntchito robotic plasma kudula kumafuna zambiri kuposa kungogula robot ndi nyali ya plasma.Ngati mukuganizira kudula kwa plasma kwa robotic, onetsetsani kuti mutenge njira yonse ndikuyang'ana mtengo wonse wamtengo wapatali.Kuonjezera apo, gwiritsani ntchito wopanga makina ophatikizira opanga omwe amamvetsetsa ndikumvetsetsa ukadaulo wa plasma ndi zida zamakina ndi njira zomwe zimafunikira kuti zitsimikizire kuti zofunikira zonse zikuphatikizidwa mu kapangidwe ka batri.
Komanso ganizirani mapulogalamu, amene arguably chimodzi mwa zigawo zofunika kwambiri aliyense robotic plasma kudula system.If inu padera mu dongosolo ndi mapulogalamu mwina zovuta kugwiritsa ntchito, kumafuna ukatswiri kwambiri kuthamanga, kapena inu kupeza izo. zimatenga nthawi yochuluka kuti zigwirizane ndi robot ku plasma kudula ndikuphunzitsa njira yodulira, mukungowononga ndalama zambiri.
Ngakhale kuti mapulogalamu oyerekeza a robotic ndi ofala, maselo ogwira ntchito a robotic plasma amagwiritsa ntchito mapulogalamu a pulogalamu ya robotic popanda intaneti yomwe imangopanga mapulogalamu a robot, kuzindikira ndi kubwezera zowombana, ndikuphatikiza chidziwitso cha plasma kudula ndondomeko. , kupanga makina ngakhale zovuta kwambiri za robotic plasma kudula ntchito kumakhala kosavuta.
Kudula kwa plasma kumafuna mawonekedwe apadera a tochi.Ikani ma geometry a torch omwe amagwiritsidwa ntchito pa XY yofananira (onani chithunzi 1) ku mawonekedwe ovuta, monga mutu wokhotakhota wa chotengera, ndipo muwonjezera mwayi wogunda. Pachifukwa ichi, miyuni yakuthwa (yokhala ndi "zowongoka") ndiyoyenera kudula mawonekedwe a robotic.
Mitundu yonse ya kugundana sikungapewedwe ndi tochi yakuthwa-ngongole yokha. Pulogalamu yagawo iyeneranso kukhala ndi kusintha kwa kutalika kodulidwa (ie nsonga ya nyali iyenera kukhala ndi chilolezo ku workpiece) kuti zisawombane (onani Chithunzi 2).
Panthawi yodula, mpweya wa plasma umayenda pansi pa thupi la nyali munjira yopita ku nsonga. kuyenda kwa ma elekitironi otentha.Kutentha kwa plasma kuli pafupi ndi madigiri 20,000 Celsius, pamene mbali zamkuwa za nyali zimasungunuka pa madigiri 1,100. Zowonongeka zimafunikira chitetezo, ndipo chigawo chotetezera cha particles cholemera chimapereka 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 chodulidwa kukhala yotentha kwambiri kuposa ina. Ma tochi okhala ndi mpweya wozungulira mozungulira koloko nthawi zambiri amayika mbali yotentha ya chodulidwacho kumanja kwa arc (chikawonedwa kuchokera pamwamba kulowera komwe wadulidwa). process engineer amagwira ntchito molimbika kukhathamiritsa mbali yabwino ya odulidwayo ndipo amaganiza kuti mbali yoyipa (kumanzere) ikhala yotsalira (onani Chithunzi 3).
Zinthu zamkati ziyenera kudulidwa mozungulira, mbali yotentha ya plasma imapanga kudula koyera kumbali yakumanja (mbali ya m'mphepete). M'malo mwake, gawo la gawolo liyenera kudulidwa molunjika. tochi imadula molakwika, imatha kupanga taper yayikulu mu mbiri yodulidwa ndikuwonjezera zinyalala m'mphepete mwa gawolo.
Dziwani kuti matebulo ambiri odulira ma plasma ali ndi luntha lopangidwa mwa wowongolera potsata njira yodulira arc. chifukwa chake ndikofunikira kukhala ndi pulogalamu yapaintaneti ya robotic yodziwikiratu njira yophatikizika ya plasma.
Kuyenda kwa nyali komwe kumagwiritsidwa ntchito poboola chitsulo kumakhudza mwachindunji zinthu zodulira plasma. Ngati nyali ya plasma iboola pepalalo pamtunda wodula (pafupi kwambiri ndi chogwirira ntchito), kuthamangitsidwa kwachitsulo chosungunuka kumatha kuwononga chishango ndi nozzle mwachangu. odulidwa osauka ndi kuchepetsa consumable moyo.
Apanso, izi sizichitika kawirikawiri muzitsulo zodula mapepala ndi gantry, monga luso lapamwamba la luso la nyali lamangidwa kale mu controller.Wogwira ntchitoyo amasindikiza batani kuti ayambitse ndondomeko yoboola, yomwe imayambitsa zochitika zingapo kuti zitsimikizire kutalika kokwanira kwa kuboola. .
Choyamba, nyaliyo imapanga njira yowonera kutalika, nthawi zambiri imagwiritsa ntchito chizindikiro cha ohmic kuti izindikire malo ogwirira ntchito. ku workpiece.Arc plasma ikasamutsidwa, imatha kutentha kwathunthu.Panthawiyi, nyali imasuntha kupita kumtunda woboola, womwe ndi mtunda wotetezeka kuchokera ku workpiece ndi kutali kwambiri ndi blowback ya zinthu zosungunuka.Nyaliyo imasunga izi. mtunda mpaka plasma arc ilowa kwathunthu m'mbale. Pambuyo pochedwa kuboola kwatha, nyaliyo imatsika pansi kupita ku mbale yachitsulo ndikuyamba kudula (onani Chithunzi 4).
Apanso, nzeru zonsezi nthawi zambiri zimamangidwa muzitsulo za plasma zomwe zimagwiritsidwa ntchito podula mapepala, osati olamulira a robot.Kudula kwa robot kumakhalanso ndi zovuta zina.Kuboola pamtunda wolakwika kumakhala koipa, koma podula mawonekedwe amitundu yambiri, nyali sangakhale m'njira yabwino kwa workpiece ndi zinthu makulidwe.Ngati nyali si perpendicular pamwamba zitsulo amapyoza, izo kukathera kudula wandiweyani mtanda gawo kuposa kofunika, kuwononga consumable life.Kuonjezera apo, kuboola workpiece contoured m'njira yolakwika akhoza kuika msonkhano wa nyali pafupi kwambiri ndi workpiece pamwamba, kuwulula izo kusungunuka blowback ndi kuchititsa kulephera msanga (onani Chithunzi 5).
Ganizirani za ntchito yodulira plasma yomwe imaphatikizapo kupindika mutu wa chotengera choponderezedwa. Mofanana ndi kudula mapepala, tochi ya robotic iyenera kuyikidwa molunjika kumtunda wa zinthu kuti zitsimikizire kuti gawolo limatha kung'ambika. , imagwiritsa ntchito kuzindikira kutalika mpaka itapeza chotengera pamwamba, kenaka imabwereranso motsatira nsonga ya nyali kuti isamutse kutalika. Pambuyo pa arc kusamutsidwa, nyaliyo imabwezeretsedwanso motsatira nsonga ya 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 kumalo odulidwa omwe amafunidwa panthawi imodzi kapena m'masitepe.Panthawiyi, ndondomeko yodula imayamba.
Maloboti amatchedwa machitidwe opangidwa mopitilira muyeso.Izi zati, ili ndi njira zingapo zofikira pamalo omwewo.Izi zikutanthauza kuti aliyense wophunzitsa loboti kusuntha, kapena wina aliyense, ayenera kukhala ndi luso linalake, kaya pakumvetsetsa kayendedwe ka robot kapena kukonza makina. zofunikira za kudula kwa plasma.
Ngakhale kuti zolembera zamaphunziro zidasinthika, ntchito zina sizoyenera mwachibadwa pophunzitsa zolendala—makamaka ntchito zophatikiza zigawo zambiri zosakanizika za voliyumu yochepa. Maloboti sapanga akaphunzitsidwa, ndipo kuphunzitsa pakokha kumatenga maola, kapena ngakhale masiku a zigawo zovuta.
Mapulogalamu a pulogalamu ya robot yapaintaneti opangidwa ndi ma module odulira plasma adzaphatikizira ukatswiriwu (onani Chithunzi 7) .Izi zikuphatikizapo njira yodulira mpweya wa plasma, kuzindikira kutalika koyambirira, kutsata kuboola, ndi kukhathamiritsa 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 kuti upangire machitidwe opitilira muyeso.Imayendetsa 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, kenaka amatanthauzira m'mphepete mwake kuti adulidwe, pamodzi ndi malo oboola ndi magawo ena, poganizira kugunda ndi zopinga zosiyanasiyana.
Zina mwazomwe 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 mbiri zingapo nthawi imodzi.Wopanga mapulogalamu angasankhe chosankha cham'mphepete chomwe chikuwonetsa njira yodulira ndi malangizo. , ndiyeno sankhani kusintha malo oyambira ndi omalizira, komanso mayendedwe ndi kutengera kwa nyali ya plasma.Programming imayamba (popanda chizindikiro cha mkono wa robot kapena dongosolo la plasma) ndikupitiriza kuphatikizapo chitsanzo cha robot.
Kuyerekezera kotsatirako kungaganizire zonse zomwe zili mu selo la robotic, kuphatikizapo zinthu monga zotchinga chitetezo, zosungirako, ndi ma tochi a plasma. Kenako amawerengera zolakwika zilizonse za kinematic ndi kugunda kwa woyendetsa, yemwe angathe kukonza vutoli.Mwachitsanzo, kuyerekezera kungavumbulutse vuto la kugundana pakati pa mabala awiri osiyana pamutu wa chotengera choponderezedwa. Kudula kulikonse kumakhala pamtunda wosiyana motsatira mizere ya mutu, kotero kuti kuyenda mofulumira pakati pa macheka kuyenera kuwerengera chilolezo chofunikira-kang'ono kakang'ono, kuthetsedwa ntchito isanafike pansi, zomwe zimathandiza kuthetsa mutu ndi kutaya.
Kusowa kwa ntchito kosalekeza komanso kuchuluka kwa makasitomala omwe akufuna kwapangitsa opanga ambiri kutembenukira ku robotic plasma cutting.Mwatsoka, anthu ambiri amadumphira m'madzi kuti apeze zovuta zina, makamaka pamene anthu ophatikiza makina opangira makina alibe chidziwitso cha kudula kwa plasma. Njirayi idzangokhalira kumabweretsa 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, kukulitsa moyo wa consumables.Imadula njira yoyenera ndikuyendetsa kuti ipewe ntchito iliyonse. collision.Potsatira njira iyi yopangira zokha, opanga amapeza mapindu.
Nkhaniyi idachokera pa "Advances in 3D Robotic Plasma Cutting" yomwe idaperekedwa pamsonkhano wa 2021 FABTECH.
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Nthawi yotumiza: May-25-2022
