KHOA CÔNG NGHỆ ĐIỆN TỬ

KHOA CNG NGH IN TTIU LUN TI: CHNG 11 ROBOT CNG NGHIP

Sinh vin thc hin: Nguyn Thanh Nh 08108771

Nguyn Minh PhiLp: DHDT4A

08218981

Phn 1: M t robot v cc thuc tnh lin quan1. khp (join) v khu (link)

Cc tay my c c im chung v kt cu gm cc khu c kt ni vi nhau bng cc khp hnh thnh mt chui ng hc h t

phn thn n phn cng tc.

Phn 1: M t robot v cc thuc tnh lin quan1. khp (join) v khu (link)Khp 2

Khp 1

Khu 1 Gi Khu 0

Khu 2

Phn 1: M t robot v cc thuc tnh lin quan1. khp (join) v khu (link)Nu phn loi theo khp th robot cng nghip c phn lm 5 loi l:Hng chuyn ng

Khu vo

Khu ra

Linear joint ( L joint): lin kt gia khu vo v khu ra l chuyn ng tnh tin. Trc hai khu l song song

Phn 1: M t robot v cc thuc tnh lin quan1. khp (join) v khu (link)Hng chuyn ng

Khu vo

Khu ra

Orthogonat Joint (O joint).): cng l chuyn ng tnh tin nhng trc ca 2 khu vung gc vi nhau trong sut chuyn ng


Hng chuyn ng

Khu vo

Khu ra

Rotational Joint (R joint).: chuyn ng quay vi trc quay vung gc vi khu vo v khu ra


Hng chuyn ng

Khu vo

Khu ra

twisting joint (T joint): chuyn ng quay vi trc quay song song vi khu vo v khu ra

Phn 1: M t robot v cc thuc tnh lin quan1. khp (join) v khu (link)Khu ra

Khu vo

Hng chuyn ng

Revolving joint(V joint): khp ni hnh ch V trong sut qu trnh chuyn ng. Trc ca khp vo song song vi trc ca khu vo. Trc ca khu ra song song vi trc chuyn ng


* Bc t doBc t do (DOF - Degree Of Freedom): l s thng s c lp cn thit Xc nh hon ton v tr ca c cu, n cng l s kh nng chuyn ng tng i c lp ca c cu . Cng thc tnh bc t do:

Vi

ci: s chuyn ng b rng buc bi khp i fi: s chuyn ng tng i cho php bi khp i j: tng s khp trong c cu n: tng s khu trong c cu (k c khu c nh) : s bc t do ca khng gian m c cu hot ng

Phn 1: M t robot v cc thuc tnh lin quan2. Cu hnh robot thng thngVai (shoulder) Cnh tay (arm)

C tay(Wrist) Bn tay (hand)

Tay ro bt ging nh tay con ngi

Phn 1: M t robot v cc thuc tnh lin quan2. Cu hnh robot thng thng

Polar configuration ba bc chuyn ng c bn gm mt trc tnh tin v hai trc quay


Robot to tr (cylindrical robot): ba bc chuyn ng c bn gm hai trc chuyn ng tnh tin v mt trc quay


Robot to vung gc (cartesian robot): robot loi ny c ba bc chuyn ng c bn gm ba chuyn ng tnh tin dc theo ba trc vung gc


Jointed-arm robot: robot ny gm mt tr ngang c th xoay quanh mt ci b s dng. Bn trn l khp quay (r join)

Scara: c xut cho cng vic lp rp. l mt loai tay my c bit gm hai khp quay v mt khp trt. Nhng c 3 u c trc song song vi nhau. Kt cu ny lm cho tay my cng hn v phn thng ng. Nhng km bn vng theo phng ngang. Loi ny chuyn dng cho cng vic lp ghp ti trng nh theo phng ng T Scara l vit tt ca selective compliance assembly robot arm m t cc c im trn. Vng lm vic ca Scara l mt phn ca hnh tr rng.


H thng k hiu khp. biu tng cho nm loi khp (L, 0, R, T, v V) c th c s dng xc nh mt h thng k hiu chung cho cc tay my robot. Vic m t cc loi phn to nn khp v c tay robot. V d, cc k hiu TLR: TR c din di l: (khp 1 = T), (khp 2 = L), (khp 3 = R). C tay bao gm hai khp, khp xon (khp 4 = T) v mt khp quay (khp 5 = R). Du hai chm biu din s tch ri gia thn v tay robot Khng gian lm vic : c nh ngha l khng gian m trong cc robot c th vi ti c. Khng gian lm vic c xc nh da vo s khp. V ln ca khu

Phn 1: M t robot v cc thuc tnh lin quan3. H thng iu khin cc khpKhp Robot s dng ba loi truyn ng: (1) in,(2) thy lc, kh nn (3). H thng truyn ng in s dng ng c in l thit b truyn ng chung (V d: ng c servo hoc ng c bc). H thng thy lc v kh nn s dng cc pittong hoc bm iu khin cc khp.

Phn 1: M t robot v cc thuc tnh lin quan3. H thng iu khin cc khpNgun dn ng bng in

Cc ng c s dng thng l ng c bc, ng c DC servo, ng c AC servo. Robot Loi ny c thit k gn, chy m nh v rt Chnh xc.

Phn 1: M t robot v cc thuc tnh lin quan3. H thng iu khin cc khpNgun dn ng bng kh nn H thng cn c trang b my nn, bnh Cha kh v ng c ko my nn. Robot loi ny thng c s dng trong cc ng dng c ti trng nh c tay my l cc xy-lanh kh nn thc hin chuyn ng thng v chuyn ng quay. Do kh nn l lu cht nn c nn robot loi ny thng s dng trong cc theo tc gp t khng cn chnh xc cao

Phn 1: M t robot v cc thuc tnh lin quan3. H thng iu khin cc khpNgun dn ng bng thy lc

Ngun thy lc s dng lu cht khng nn c l u p. H thng cn trang b bm to p lc u Tay my l cc xy-lanh thy lc chuyn ng thng v quay v ng c du. Robot loi ny c s dng trong cc ng dng c ti trng ln.

Phn 2:H thng iu khin robotH thng iu khin c phn thnh 4 loi: (1) limited sequence control, (2) playback with point-to-point control, (3) playback with cootinuous path control, (4) intelligent control.

Phn 2:H thng iu khin robotlimited sequence control y l loi iu khin c bn nht N ci t

bng cch thit lp gii hn hoc im dng cho mi khp v sp xp s vn hnh ca cc khp hon thnh cng vic. Vng hi tip xc nh xem khp vn hnh xong cha. tip tc thc hin bc tip theo.

Phn 2:H thng iu khin robotPlayback with point-to poinn controlRobot loi ny s dng b iu khin servo thc hin iu khin vng kn. H thng iu khin lin tc l h thng trong robot c lp trnh theo mt ng chnh xc. Trong h thng iu khin ny, ng dn c biu in bng mt lot cc im ri rc gn nhau v c lu vo b nh robot, sau robot s thc hin li chnh xc ng dn .

Phn 2:H thng iu khin robotPlayback with Continuous Path ControlLoi ny c kh hi tip li tng t nh cc loi trc S khc bit gia continuous path v point-to-point l mt hoc c hai kh nng sau y: Kh nng lu tr ln: B iu khin c mt dung lng lu tr ln hn nhiu hn so vi point-to-point, do s lng cc a im c th c ghi vo b nh ln hn nhiu so point-to-point .V cc im to chu k chuyn ng rt st vi nhau nn robot thc hin mt chuyn ng trn tru v lin tc Ni suy tnh ton. my tnh iu khin ng i gia cc im bt u v im kt thc ca mi di chuyn bng php ni suy

Phn 2:H thng iu khin robotIntelligent ControlRobot cng nghip ang tr nn ngy thng minh. Mt nhng c im ca mt robot thng minh gm: tng tc vi mi trng ca n t quyt nh khi vi cc li trong chu k lm vic giao tip vi con ngi t tnh ton trong chu k chuyn ng p ng u vo cm bin tin tin

Phn 3 Khu tc ng khu tc ng thng c gn lin vi c tay ca robot. khu tc ng cho php robot thc hin mt nhim v c th.Bi v nhiu loi

nhim v c thc hin bi cc robot cng nghip, khu tc ng thng phi c ty chnh thit k v ch to cho mi ng dng khc nhau. Hai loi khu tc ng l kp v cc cng c.

Phn 3 Khu tc ng1. Kp (Grippers)

Kp l khu tc ng c s dng nm bt v thao tc cc i tng. Cc loi kp c s dng trong cc ng dng robot cng nghip bao gm nhng iu sau y:

Phn 3 Khu tc ng1. Kp (Grippers) kp c kh, bao gm hai hay nhiu ngn tay c th c iu khin bi h thng iu khin Robot m v ng nm bt cc vt. kp chn khng, trong mt chic ng ht c s dng gi cc i tng phng nh thy tinh thit b t trng: gi cc kim loi t tnh cc thit b kt dnh, mt cht kt dnh c s

dng gi mt vt liu mm do chng hn nh vi. thit b c kh n gin nh mc v mung.

Phn 3 Khu tc ng1. Kp (Grippers) Kp i, bao gm hai ci kp trong khu tc ng Vi mt

kp kp, robot chn ln vt tip theo trong khi my cha c x l mt phn lin k trc khi kt thc, loi b cc phn hon thnh v ti cc phn tip theo. iu ny lm gim thi gian lm vic Ngn tay thay i c. S dng nhng ngn tay khc nhau gp nhng vt khc nhau. cm bin hi tip cc ngn tay vi kh nng nh: cm nhn s hin din ca vt hoc s lng ca vt . Kp nhiu ngn tay tng qut ging nh bn tay con ngi. Sn phm kp tiu chun thng mi, do lm gim s cn thit phi ty chnh thit k mt kp cho mi ng dng robot ring bit

Phn 3 Khu tc ng2. Cng c(Tool) Cng c c s dng trong cc ng dng m

cc robot phi thc hin mt s hot ng hot ng trn. V d v cc cng c c s dng nh khu tc ng thc hin cc ng dng x l bao gm:

Phn 3 Khu tc ng2. Cng c(Tool) sng hn im cng c hn h quang

sng phun sn quay trc khoan, mi, ... lp rp cng c (v d nh, vt t ng)

si m dng c ct nc .

Phn 3 Khu tc ng2. Cng c(Tool) robot khng ch kim sot v tr tng i ca cc

cng c lin quan n cng vic, n cng phi kim sot hot ng ca cng c ny. Cc robot phi c kh nng truyn tn hiu iu khin cng c bt u, dng li... Trong mt s ng dng, nhiu cng c c robot s dng trong chu k lm vic, Do cc cng c cn c thay i mt cch nhanh chng. khu tc ng trong trng hp ny c nhiu cng c thay i nhanh mt cch nhanh chng buc, ci cc cng c khc nhau.

Phn 4 Cm bin trong robotCm bin c s dng trong cc robot cng nghip c th c phn loi thnh hai loi: ni b Bn ngoi Cm bin ni b s dng kim sot v tr v vn

tc ca cc khp ca robot v d nh encode Cm bin bn ngoi s dng phi hp hot ng ca robot vi thit b khc c th l thit b tng i n gin. chng hn nh Cng tc hnh trnh xc nh mt vt c nm trong v tr gii hn hoc cm bin tin tin bao gm:

Phn 4 Cm bin trong robot Cm bin xc gic cm bin cm ng cm bin lc

Cm bin tim cn :Ghi li khi mt i tng gn vi cm bin Cc cm bin quang hc pht hin s hin din

hay vng mt ca cc i tng v pht hin khong cch. Cc cm bin khc. Th loi ny bao gm cc loi cm bin c th c s dng trong cc robot, nh cc thit b o nhit , p sut cht lng, dng chy cht lng, in p, v cc c tnh vt l khc nhau.

Phn 5: ng dng ca robot cng nghipMi trng lm vic l mt trong mt vi im cn c xem xt khi la chn mt ng dng robot. Cc c im chung hoc ni lm vic cng nghip c xu hng thc y s thay th ca robot cho ngi lao ng nh sau: Mi trng lm vic nguy him cho con ngi Cng vic lp i lp li chu k Thao tc kh khn i vi con ngi Hot ng phi thay i nhiu Thng xuyn chuyn i,v tr lm vic

Phn 5: ng dng ca robot cng nghip1. ng dng x l Vt liu

L nhng robot di chuyn cc nguyn vt liu

hoc cc b phn t ni ny n ni khc.Robot cn c trang b kp gp d vt trong hng mc ny ng dng nh sau: Di chuyn vt liu

Ti hoc d hng


Di chuyn vt liu di chuynVt liu.Cc ng dng ny, trong mc ch chnh ca robot ly cc b phn ti mt a im v t chng mt v tr mi.Cc ng dng c bn trong vic ny l hot ng nht v tng i n gin. V d nh a cc b phn t mt bng ti n v tr khc. Cc yu cu ca ng dng l mt robot cng ngh thp thng l . Ch c hai, ba hoc bn khp c yu cu cho hu ht cc ng dng.


Ti hoc d hng di chuynVt liu.Cc ng dng ny, trong mc ch chnh ca robot ly cc b phn ti mt a im v t chng mt v tr mi.Cc ng dng c bn trong vic ny l hot ng nht v tng i n gin. V d nh a cc b phn t mt bng ti n v tr khc. Cc yu cu ca ng dng l mt robot cng ngh thp thng l . Ch c hai, ba hoc bn khp c yu cu cho hu ht cc ng dng.

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