Zikafika pa momwe ma gripper amagetsi amawunikiridwa, pali njira zambiri zokwaniritsira magwiridwe antchito ndikuwongolera.Nkhaniyi ifotokoza njira zingapo zomwe zimagwiritsidwa ntchito pamagetsi, kuphatikiza kuwongolera pamanja, kuwongolera mapulogalamu ndi kuwongolera mayankho a sensa.
1. Kuwongolera pamanja
Kuwongolera pamanja ndi imodzi mwa njira zofunika kwambiri zowongolera.Nthawi zambiri imayang'anira kutsegula ndi kutseka kwa chogwirira pogwiritsa ntchito chogwirira, batani kapena kusintha.Kuwongolera pamanja ndikoyenera kuchita zinthu zosavuta, monga m'ma laboratories kapena ntchito zina zazing'ono.Wogwira ntchitoyo amatha kuwongolera kayendedwe ka chogwirizira mwachindunji kudzera pakukhudza thupi, koma ilibe makina komanso kulondola.
2. Kuwongolera mapulogalamu
Kuwongolera mwadongosolo ndi njira yapamwamba kwambiri yowongolerachogwirira magetsis.Zimaphatikizapo kulemba ndi kuchita mapulogalamu apadera kuti awongolere zochita za gripper.Njira yowongolera iyi imatha kukhazikitsidwa kudzera m'zilankhulo zamapulogalamu (monga C++, Python, ndi zina zambiri) kapena pulogalamu yowongolera loboti.Kuwongolera kwadongosolo kumalola chogwirizira kuchita motsatira zovuta komanso zomveka, zomwe zimapatsa kusinthasintha kwakukulu komanso kuthekera kongochita zokha.
Kuwongolera kokhazikika kumathanso kuphatikizira data ya sensa ndi njira zoyankhira kuti zithandizire magwiridwe antchito apamwamba kwambiri.Mwachitsanzo, pulogalamu ikhoza kulembedwa kuti ingosintha mphamvu yotsegulira ndi kutseka kapena malo ogwiritsira ntchito potengera zizindikiro zakunja (monga mphamvu, kuthamanga, masomphenya, etc.).Njira yowongolerayi ndiyoyenera kugwiritsa ntchito zomwe zimafuna kuwongolera molondola komanso zovuta, monga mizere yolumikizirana, kupanga makina, ndi zina.
3. Kuwongolera mayankho a sensor
Sensor feedback control ndi njira yomwe imagwiritsa ntchito masensa kuti apeze mawonekedwe a gripper ndi chidziwitso cha chilengedwe ndikuwongolera kutengera chidziwitsochi.Masensa wamba amaphatikizira masensa amphamvu, masensa othamanga, masensa a malo, ndi zowonera.
Kupyolera mu sensa ya mphamvu, nsagwada yokhotakhota imatha kuzindikira mphamvu yomwe imakhala nayo pa chinthucho, kotero kuti mphamvu yokhotakhota ikhoza kulamulidwa.Masensa opanikizika amatha kugwiritsidwa ntchito kuti azindikire kuthamanga kwa kulumikizana pakati pa gripper ndi chinthucho kuti zitsimikizire kukhazikika kotetezeka komanso kokhazikika.Kachipangizo kameneka kamatha kupereka chidziwitso cha malo ndi maganizo a chogwirira kuti chiwongolere bwino kayendetsedwe ka gripper.
Masensa a masomphenya atha kugwiritsidwa ntchito kuzindikira ndi kupeza zinthu zomwe mukufuna, ndikupangitsa kuti zizigwira ntchito zokha.Mwachitsanzo, ikatha kugwiritsa ntchito masensa a masomphenya kuti azindikire chandamale ndikuzindikiritsa, chogwirizira chimatha kuwongolera kachitidwe kakukakamiza potengera malo ndi kukula kwa chinthu chomwe mukufuna.
Kuwongolera mayankho a sensa kumatha kukupatsani chidziwitso chanthawi yeniyeni ndi chidziwitso cha mayankho kuti
Izi zimathandiza kuwongolera molondola kwambiri kayendedwe ka gripper.Kupyolera mu ndemanga ya sensa, chogwirizira chimatha kuzindikira ndi kuyankha kusintha kwa chilengedwe munthawi yeniyeni, potero kusintha magawo monga kulimba kwamphamvu, malo, ndi liwiro kuti zitsimikizire kulondola komanso kotetezeka.
Kuphatikiza apo, pali njira zowongolera zotsogola zomwe mungasankhe, monga mphamvu / torque, control impedance ndi kuwongolera mayankho owonera.Kuwongolera kwamphamvu / torque kumathandizira kuwongolera bwino mphamvu kapena torque yoyendetsedwa ndi chogwirizira kuti igwirizane ndi mawonekedwe ndi zosowa zamitundu yosiyanasiyana.Kuwongolera kwa Impedans kumapangitsa kuti wogwirizirayo asinthe kuuma kwake ndi kuyankha kwake potengera kusintha kwa mphamvu zakunja, kulola kuti azigwira ntchito ndi munthu wogwiritsa ntchito kapena kusinthira kumadera osiyanasiyana ogwira ntchito.
Kuwongolera mayankho owoneka bwino kumagwiritsa ntchito ukadaulo wa masomphenya apakompyuta ndi ma aligorivimu kuti azindikire, kupeza ndi kutsata zinthu zomwe akufuna kutsata kudzera pakukonza ndi kusanthula zenizeni zenizeni kuti akwaniritse magwiridwe antchito olondola.Kuwongolera mayankho owoneka bwino kungapereke kusinthasintha kwakukulu komanso kusinthasintha pakuzindikiritsa zida zogwirira ntchito ndi ntchito zomangirira.
Njira zowongolera zamagetsi zamagetsi zimaphatikizapo kuwongolera pamanja, kuwongolera mapulogalamu ndi kuwongolera mayankho a sensa.Zowongolerazi zitha kugwiritsidwa ntchito payekhapayekha kapena kuphatikiza kuti mukwaniritse zolondola, zongochitika zokha komanso zosinthika.Kusankhidwa kwa njira yoyenera yowongolera kuyenera kuwunikiridwa ndikuganiziridwa potengera zomwe mukufuna kugwiritsa ntchito, zofunikira zolondola, komanso kuchuluka kwa makina opangira makina.
Palinso mbali zina zochepa zomwe ziyenera kuganiziridwa pankhani ya momwe ma gripper amagetsi amayendetsedwa.Nazi zina zowongolera ndi zina zomwe zikukambidwanso:
4. Kuwongolera kwamayankho ndi kuwongolera kotseka
Kuyang'anira ndemanga ndi njira yowongolera yotengera chidziwitso chazambiri zamakina.Muzitsulo zamagetsi, kuwongolera kotsekeka kumatha kuchitika pogwiritsa ntchito masensa kuti azindikire momwe alili, malo, mphamvu ndi magawo ena a gripper.Kuwongolera kotsekeka kumatanthauza kuti makina amatha kusintha malangizo owongolera munthawi yeniyeni kutengera chidziwitso cha mayankho kuti akwaniritse zomwe akufuna kapena magwiridwe antchito a chogwirizira.Njira yowongolera iyi imatha kukulitsa kulimba, kulondola komanso kukhazikika kwadongosolo.
5. Pulse width modulation (PWM) control
Pulse wide modulation ndi njira wamba yowongolera yomwe imagwiritsidwa ntchito kwambiri pama gripper amagetsi.Imasintha malo otsegulira ndi kutseka kapena liwiro la chogwiritsira ntchito magetsi poyang'anira kuchuluka kwa mphamvu ya chizindikiro cholowera.Kuwongolera kwa PWM kumatha kupereka kuwongolera kolondola ndikulola kuyankha kwa gripper kuti kusinthidwa pansi pamikhalidwe yosiyanasiyana.
6. Njira yolumikizirana ndi njira:
Zogwiritsira ntchito zamagetsi nthawi zambiri zimafuna kulankhulana ndi kugwirizanitsa ndi makina oyendetsa robot kapena zipangizo zina.Chifukwa chake, njira yowongolera imaphatikizaponso kusankha njira zolumikizirana ndi ma protocol.Njira zoyankhulirana zodziwika bwino zimaphatikizapo Ethernet, serial port, CAN basi, ndi zina zotero, ndipo ndondomeko yolankhulirana ikhoza kukhala Modbus, EtherCAT, Profinet, etc. Kusankhidwa koyenera kwa njira zoyankhulirana ndi ma protocol ndizofunikira kuonetsetsa kuti gripper ikugwirizanitsa ndikugwira ntchito mosasunthika ndi machitidwe ena.
7. Kuwongolera chitetezo
Chitetezo ndichinthu chofunikira kwambiri pakuwongolerachogwirira magetsis.Kuonetsetsa chitetezo cha ogwira ntchito ndi zida, makina owongolera ma gripper nthawi zambiri amafunikira zida zachitetezo monga kuyimitsidwa kwadzidzidzi, kuzindikira kugundana, malire amphamvu, ndi malire othamanga.Ntchito zotetezerazi zitha kukhazikitsidwa kudzera mu kamangidwe ka ma hardware, kuwongolera mapulogalamu ndi mayankho a sensa.
Posankha njira yoyenera yoyendetsera magetsi, zinthu monga zofunikira pakugwiritsa ntchito, zofunikira zolondola, kuchuluka kwa automation, zofunikira zolumikizirana ndi chitetezo ziyenera kuganiziridwa mozama.Kutengera ndi momwe ntchito ikugwiritsidwira ntchito, pangakhale kofunikira kusintha kachitidwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake kapena kusankha njira yomwe ilipo kale.Kuyankhulana ndi kukambirana ndi ogulitsa ndi akatswiri kudzathandiza kumvetsetsa ubwino ndi kuipa kwa njira zosiyanasiyana zowongolera ndikusankha njira yoyendetsera bwino kwambiri kuti ikwaniritse zosowa zenizeni.
8. Programmable Logic Controller (PLC)
Programmable logic controller ndi chipangizo chomwe chimagwiritsidwa ntchito kwambiri pamakina opanga makina.Itha kuphatikizidwa ndi ma grippers amagetsi kuti aziwongolera ndikuwongolera ma grippers kudzera pamapulogalamu.Ma PLC nthawi zambiri amakhala ndi zolowera / zotulutsa zochulukirapo zomwe zingagwiritsidwe ntchito kulumikizana ndi masensa ndi ma actuators kuti akwaniritse zovuta zowongolera.
9. Control aligorivimu ndi logic
Kuwongolera ma aligorivimu ndi malingaliro ndi gawo lofunikira pakuzindikira machitidwe a gripper.Kutengera zofunikira za ntchito ndi mawonekedwe a gripper, ma aligovimu osiyanasiyana amatha kupangidwa ndikugwiritsidwa ntchito, monga kuwongolera kwa PID, kuwongolera kwamalingaliro, kuwongolera, ndi zina zambiri. Ma aligorivimuwa amawongolera zochita za nsagwada zogwira kuti zikhale zolondola, mwachangu komanso khola clamping ntchito.
10. Programmable controller (CNC)
Pazinthu zina zomwe zimafunikira kulondola kwambiri komanso zovuta, owongolera omwe amatha kukhazikika (CNC) nawonso amasankha.The CNC dongosolo akhoza kuyendetsa galimotochogwirira magetsipolemba ndi kukhazikitsa mapulogalamu owongolera ndikukwaniritsa kuwongolera bwino kwa malo ndikukonzekera njira.
11. Kuwongolera mawonekedwe
Mawonekedwe owongolera a gripper yamagetsi ndi mawonekedwe omwe woyendetsa amalumikizana ndi chogwirizira.Itha kukhala chophimba chokhudza, batani la batani, kapena mawonekedwe azithunzi apakompyuta.Mawonekedwe anzeru komanso osavuta kugwiritsa ntchito amawonjezera magwiridwe antchito komanso kusavuta.
12. Kuzindikira zolakwika ndi kubwezeretsa zolakwika
Pakuwongolera kwa gripper, kuzindikira zolakwika ndi ntchito zobwezeretsa zolakwika ndizofunikira kuti zitsimikizire kukhazikika ndi kudalirika kwadongosolo.Dongosolo lowongolera ma gripper liyenera kukhala ndi luso lozindikira zolakwika, lotha kuzindikira ndikuyankha zolakwika zomwe zingatheke munthawi yake, ndikuchitapo kanthu kuti mubwezeretse kapena kuchenjeza.
Mwachidule, njira yoyendetsera magetsi imaphatikizapo zinthu zambiri, kuphatikizapo chowongolera (PLC/CNC), kuwongolera ma aligorivimu, mawonekedwe owongolera ndi kuzindikira zolakwika, ndi zina zotero. , mlingo wa automation, ndi kudalirika.Kuonjezera apo, kulankhulana ndi kukambirana ndi ogulitsa ndi akatswiri ndizofunikira kuti muwonetsetse kuti njira yabwino yolamulira ikusankhidwa.
Posankha njira yoyendetsera gripper yamagetsi, pali zinthu zingapo zofunika kuziganizira:
13. Kugwiritsa ntchito mphamvu komanso kuchita bwino
Njira zowongolera zosiyanasiyana zitha kukhala ndi milingo yogwiritsira ntchito mphamvu komanso mphamvu.Kusankha njira zochepetsera mphamvu zochepa komanso zowongolera bwino zimatha kuchepetsa kugwiritsa ntchito mphamvu ndikuwongolera magwiridwe antchito.
14. Scalability ndi kusinthasintha
Poganizira zosintha zomwe zingachitike m'tsogolomu, ndikwanzeru kusankha njira yowongolera ndi scalability yabwino komanso kusinthasintha.Izi zikutanthauza kuti dongosolo lolamulira likhoza kusinthidwa mosavuta ku ntchito zatsopano ndi ntchito ndikuphatikizidwa ndi zipangizo zina.
15. Mtengo ndi Kupezeka
Njira zowongolera zosiyanasiyana zitha kukhala ndi ndalama zosiyanasiyana komanso kupezeka.Posankha njira yoyendetsera, muyenera kuganizira za bajeti yanu ndi zomwe zilipo pamsika kuti muwonetsetse kuti mumasankha njira yotsika mtengo komanso yopezeka.
16. Kudalirika ndi kusunga
Njira yowongolera iyenera kukhala yodalirika komanso yosavuta kukonza.Kudalirika kumatanthauza kuthekera kwa dongosolo kuti lizigwira ntchito mokhazikika komanso kuti lisakhale lolephera.Kusamalira kumatanthauza kuti dongosololi ndi losavuta kukonzanso ndi kusunga kuchepetsa nthawi yopuma ndi kukonza ndalama.
17. Kutsata ndi Miyezo
Ntchito zina zingafunike kutsatiridwa ndi miyezo yotsatiridwa ndi zofunikira zamakampani.Posankha njira yowongolera, onetsetsani kuti njira yosankhidwayo ikugwirizana ndi zomwe zikuyenera kuchitika komanso zowongolera kuti zikwaniritse zofunikira zachitetezo ndi kutsata.
18. Mawonekedwe a ogwiritsa ntchito ndi maphunziro oyendetsa
Njira yowongolera iyenera kukhala ndi mawonekedwe owoneka bwino komanso osavuta kugwiritsa ntchito kuti wogwiritsa ntchitoyo amvetsetse ndikuyendetsa dongosolo.Kuphatikiza apo, ndikofunikira kuti aphunzitse ogwira ntchito kuti agwiritse ntchitochogwirira magetsidongosolo lowongolera molondola komanso motetezeka.
Poganizira zomwe zili pamwambazi, mutha kusankha njira yoyendetsera magetsi yomwe ikugwirizana ndi zosowa zanu.Ndikofunika kufufuza ubwino ndi kuipa kwa njira iliyonse yolamulira ndikupanga zisankho zomveka bwino malinga ndi zofunikira zenizeni kuti zitsimikizire kuti chogwiritsira ntchito magetsi chikhoza kukwaniritsa zomwe zikuyembekezeredwa ndi ntchito.
Posankha momwe mungayang'anire chogwirira chanu chamagetsi, pali zinthu zina zofunika kuziganizira:
19. Programmability ndi makonda zofunika
Mapulogalamu osiyanasiyana atha kukhala ndi zofunikira zenizeni za momwe chogwiritsidwira chimawongoleredwa, kotero kusinthika ndikusintha makonda ndizofunikira.Njira zina zowongolera zimapereka kusinthasintha kwakukulu ndi zosankha zosintha mwamakonda, kulola makonda ndi kasinthidwe kutengera zosowa za pulogalamu.
20. Kuwona ndi kuyang'anira ntchito
Njira zina zowongolera zimapereka kuthekera kowonera ndi kuyang'anira, kulola ogwiritsa ntchito kuyang'anira momwe alili, malo ndi magawo a gripper munthawi yeniyeni.Kuthekera uku kumathandizira kuwonekera ndi kutsata zomwe zikuchitika, kumathandizira kuzindikira zomwe zingachitike ndikuwongolera
22. Kuwongolera kutali ndi kuyang'anira kutali kotheka
Nthawi zina, kuyang'anira kutali ndi kuyang'anira kutali ndizofunikira.Sankhani njira yowongolera yokhala ndi zowongolera zakutali ndikuwonetsetsa kuti muzitha kugwira ntchito patali ndikuwunika momwe gripper imagwirira ntchito.
23. Kukhazikika ndi kukhudzidwa kwa chilengedwe
Pazinthu zina zomwe kukhazikika ndi kukhudzidwa kwa chilengedwe ndikofunikira, kusankha njira yowongolera yokhala ndi mphamvu zochepa, phokoso lochepa komanso mpweya wochepa ukhoza kuganiziridwa.
Mwachidule, pali zinthu zambiri zomwe muyenera kuziganizira posankha njira yoyenera yoyendetserachogwirira magetsis, kuphatikizira kukhazikika, zosowa zosinthika, zowonera ndi kuyang'anira, kuphatikiza ndi kuyanjana, kuwongolera kutali ndi kuyang'anira, kukhazikika komanso kukhudzidwa kwachilengedwe.Powunika zinthuzi ndikuziphatikiza ndi zosowa za ntchito yeniyeni, njira yoyendetsera bwino kwambiri ingasankhidwe kuti ikwaniritse ntchito yogwira bwino, yodalirika komanso yotetezeka.
Nthawi yotumiza: Nov-06-2023